Abstract
Maritime collisions are a leading cause of accidents at sea, causing severe casualties, economic losses, and environmental damage. Although numerous methods have been developed to mitigate collisions, existing research primarily emphasises decision-making and path planning, often overlooking motion planning methods that incorporate dynamic constraints and ship-specific kinematics. This paper presents a motion planning method that takes into account ship dynamics to minimise jerk, the acceleration change rate, during ship acceleration and deceleration. The paper demonstrates the differential flatness property of the 3-DOF ship motion model, which allows for the direct use of flat outputs to implement motion planning and facilitate the addition of dynamic constraints. The front-end path search is performed using the traditional A* algorithm. To represent the trajectory as a piecewise Bézier curve, we use the Bernstein polynomial basis function. Based on this curve, we propose a motion planning method that employs jerk as the cost function and includes necessary constraints. This transforms the problem into a typical convex quadratic programming problem, ensuring the solvability of the optimisation problem. Finally, simulations are carried out to evaluate the effectiveness of the proposed method.
Published Version
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