Abstract
Unmanned surface vessels (USVs) have been extensively employed in the past few decades. Traditional path planning algorithm assumes that obstacles remain stationary, and the USV dynamic constraints is not taken into account. In this paper, a path planning algorithm that considers time dimension and the dynamic performance of a USV is proposed. The algorithm abstracts the kinematics constraints and obstacle distance constraints into nonlinear constraints and abstracts the path planning problem into a nonlinear optimization model. The nonlinear model is approximated to a least squares model to improve the speed of solution. The experimental results show that this algorithm is reasonable and advantageous.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: 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.