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Efficient optimal path planning of unmanned surface vehicles

Efficient optimal path planning of unmanned surface vehicles

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The objective of the path planning of marine vehicles is to determine a collision-free path from the start to the goal point in a practical marine environment comprising static and moving obstacles. A good number of path-planning approaches have been adopted from the area of mobile robotics and extended in the area of marine robotics. The current chapter overviews application of grid-based path planners in the area of unmanned surface vehicles (USVs). The current chapter also proposes a novel and computationally efficient approach towards optimal path planning of USVs.

Chapter Contents:

  • Abstract
  • 2.1 Introduction
  • 2.1.1 Review of heuristic approaches in path planning of USVs
  • 2.1.2 A* approach
  • 2.2 Methodology overview
  • 2.2.1 Environmental mapping
  • 2.2.2 Assumptions
  • 2.2.3 Challenges of incorporating COLREGs in path-planning algorithms
  • 2.2.4 Incorporating guidance and control system with path-planning algorithm
  • 2.2.5 Collision avoidance in close encounter situation
  • 2.3 Simulation results
  • 2.3.1 Comparing A* approach with and without safety distance
  • 2.3.2 Constrained A* approach under static and partially dynamic environment
  • 2.3.3 Constrained A* approach with environmental disturbances
  • 2.3.4 Constrained A* approach with single moving obstacle and environmental disturbance
  • 2.4 Conclusions
  • References

Inspec keywords: mobile robots; remotely operated vehicles; marine vehicles; path planning; collision avoidance

Other keywords: marine vehicles; practical marine environment; novel; collision-free path; mobile robotics; current chapter; unmanned surface vehicles; good number; computationally efficient approach; goal point; efficient optimal path planning; marine robotics; grid-based path planners; path-planning approaches

Subjects: Mobile robots; Spatial variables control

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