Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents

Peng, Zhouhua; Li, Jianzhong; Han, Bing; Gu, Nan

doi:10.1007/s11804-023-00351-9

Cited by 4 publications

(1 citation statement)

References 53 publications

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“…Once the path planning for a USV is completed, further validation of the algorithmically planned path's rationality can be achieved through simulation-based path tracking and empirical verification [7]. The primary technical foundation for the execution of diverse surface operations by USVs is trajectory tracking [8]. It mainly explores how a USV follows the planned path and proves the effectiveness of the proposed path-planning method.…”

Section: Introductionmentioning

confidence: 98%

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

Yang,

Pan,

Wei

et al. 2024

JMSE

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Ocean currents make it difficult for unmanned surface vehicles (USVs) to keep a safe distance from obstacles. Effective path planning should adequately consider the effect of ocean currents on USVs. This paper proposes an improved A* algorithm based on an artificial potential field (APF) for USV path planning in a current environment. There are three main improvements to the A* algorithm. Firstly, the proposed algorithm ignores unnecessary perilous nodes to decrease calculation. Secondly, an adaptive guidance angle is developed to guide the search in the most appropriate direction to reduce the computing time. Thirdly, the potential field force function is introduced into the cost function to ensure that the path designed for the USV always maintains a safe distance from obstacles under the influence of ocean currents. Furthermore, the Bezier curve is adapted to smooth the path. The experimental results show that the USV path-planning algorithm proposed in this paper, which synthesizes the APF and A* algorithms, runs 22.5% faster on average than the traditional A* algorithm. Additionally, the path developed by the proposed A* algorithm effectively keeps appropriate and different distances from obstacles by considering different ocean currents.

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Section: Introductionmentioning

confidence: 98%

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

Yang,

Pan,

Wei

et al. 2024

JMSE

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Robust sliding mode control for path following of a MSV via the triggering LOS guidance

Chu,

Mei,

Diao

et al. 2024

2024 36th Chinese Control and Decision Conference (CCDC)

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Exploring Innovative Methods in Maritime Simulation: A Ship Path Planning System Utilizing Virtual Reality and Numerical Simulation

Li,

et al. 2024

JMSE

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In addressing the high costs, inefficiencies, and limitations of purely digital simulations in maritime trials for unmanned vessel path planning, this paper introduces a ship virtual path planning simulation test system. This system, unbound by temporal and spatial constraints, vividly showcases the navigational performance of vessels. After analyzing the virtual testing requirements for the autonomous navigation performance of unmanned surface vehicles (USVs), we established the overall framework of this system. Data-driven by a numerical simulation platform, the system achieves synchronized operation between physical and virtual platforms and supports interactive path planning simulations between USVs and the virtual testing system. Furthermore, to address the limitations of traditional ship trajectory planning evaluation, this paper develops a global path planning fitness evaluation function that comprehensively considers trajectory safety, navigation distance, and vessel stability, achieving optimal comprehensive routes through the particle swarm optimization algorithm. Test results indicate an average roll reduction of 14.31% in the planned routes, with a slight increase in navigation distance. By integrating two-dimensional curve simulation with three-dimensional visualization, this paper not only overcomes the limitations of purely physical and purely virtual simulations but also enhances the overall credibility and intuitiveness of the simulation. Experimental results validate the system’s effectiveness, providing a novel method for autonomous navigation testing and evaluation of USVs.

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Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents

Cited by 4 publications

References 53 publications

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

Robust sliding mode control for path following of a MSV via the triggering LOS guidance

Exploring Innovative Methods in Maritime Simulation: A Ship Path Planning System Utilizing Virtual Reality and Numerical Simulation

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