Abstract
Unmanned surface vesssel (USV) has been widely applied due to its advantages in the military reconnaissance and resources exploration. Path planning is one of the critical issues for USV applications, which usually includes global and local path planning methods. However, individual global path planning algorithms may not be easy to detect the dynamic obstacles in the environment, and individual local path planning algorithms may not always guarantee the existence of the feasible solution for the complex environment. Therefore, a hybrid algorithm which effectively combines global and local path planning is proposed in this paper to overcome these drawbacks. The A* algorithm is used in the global path planning to generate a global path for USV to reach the target point. The dynamic window algorithm (DWA) is used in the local path planning to avoid the dynamic obstacles and track the global path by following the local target point which is the intersection of the global and local path planning. The weight coefficient considering sea state is added in the objective function of DWA, where the security of USV can be guaranteed by reducing the weight of velocity and increasing the weight of distance when the sea state level becomes high. Thus, USV can get a global optimal path and reach the target point in complex environment with dynamic obstacles and ocean currents via the proposed hybrid algorithm, and the comparative simulation is carried out to verify the effectiveness and advantage of the proposed method.
Highlights
With the development of advanced robotics and automation, unmanned surface vehicles(USVs) have been taken more attentions as a kind of important mobile robots in recent years [1]–[9]
In this paper, a hybrid path planning algorithm is proposed with the combination of global and local path planning algorithm for Unmanned surface vesssel (USV) in complex environment with consideration of dynamic obstacles and sea state level
The local target point, which is the intersection of the global path and the edge of the local map whose size is determined by the detection range of radar, is proposed in this paper to combine global and local planning of hybrid path planning algorithm
Summary
With the development of advanced robotics and automation, unmanned surface vehicles(USVs) have been taken more attentions as a kind of important mobile robots in recent years [1]–[9]. This paper proposes a hybrid path planning algorithm by combining the advantages of global and local path planning in complex environment of consideration of dynamic obstacles and sea state level. DWA is used in local path planner to plan a optimal trajectory avoiding static and dynamic obstacles in local map updated in real map and following the local target. The global planner plans the path to reach the target point over long periods of time, and the local planner avoids dynamic and static obstacles by updating trajectory in real time. In this way, the USV gets a global optimal path and achieves excellent performance of dynamic obstacle avoidance. Due to its good applicability, it can be applied to the path planning algorithm and conveniently stored in computers
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