A multi-layered fast marching method for unmanned surface vehicle path planning in a time-variant maritime environment
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- 作者：Rui Song ; Yuanchang Liu ; yuanchang.liu.10@ucl.ac.uk ; Richard Bucknall
- 关键词：Anisotropic fast marching ; Marine environment ; Path planning ; Surface currents ; Unmanned surface vehicle
- 刊名：Ocean Engineering
- 出版年：2017
- 出版时间：1 January 2017
- 年：2017
- 卷：129
- 期：Complete
- 页码：301-317
- 全文大小：3917 K
- 卷排序：129
文摘
A practical path planning algorithm for unmanned surface vehicle has been developed. The negative influence generated by the environmental factors such as currents has been minimised for path planning. Anisotropic fast marching algorithm is used as the base algorithm to search for an optimal trajectory in a synthetic vector field. A novel obstacle/expectation decision process is proposed to analyse the planning space with the changes of USV’s position. A 4-regime risk strategy is proposed to assist with the path planning in a dynamic maritime environment.