Abstract
There has been an increasing interest in the development of unmanned surface vehicles (USVs) in recent decades. As USVs are required to carry out complex missions without any human intervention in various environments, an intelligent path planning algorithm is critical. A path planning algorithm is able to utilise environment data to calculate an optimal trajectory to guarantee safety. To achieve this, in this paper, a novel path planning and navigation (PN) algorithm is proposed. The PN algorithm uses the fast marching method (FMM) as the base algorithm to search for an optimal collision-free trajectory. Then, to facilitate the trajectory tracking of the USV, a new waypoint-generator based on the line-of-sight (LOS) is developed to generate the optimal number of waypoints from the path. The proposed algorithm has been evaluated based on the Springer USV, and has been shown that it can be seamlessly integrated with the Springer's exiting autopilot to achieve full autonomy.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
