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.
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