The angle guidance path planning algorithms for unmanned surface vehicle formations by using the fast marching method
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- 作者：Yuanchang Liu ; yuanchang.liu.10@ucl.ac.uk" class="auth_mail" title="E-mail the corresponding author ; Richard Bucknall
- 关键词：USV formation ; Path planning ; USV heading ; Angle-guidance fast marching square
- 刊名：Applied Ocean Research
- 出版年：2016
- 出版时间：September 2016
- 年：2016
- 卷：59
- 期：Complete
- 页码：327-344
- 全文大小：5267 K
文摘
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The intelligent collision-free USV formation path planning has been studied.
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USV formation forming and path planning problems have been investigated.
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The angle guidance fast marching square method is proposed to provide practical paths.
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A novel priority scheme has been developed to eliminate the conflicts en route.