Research of USV obstacle avoidance strategy based on dynamic window

Abstract

Unmanned Surface Vehicle (USV) is an autonomous marine vehicle interacting with its environment. It must have the ability to adopt global path planning and avoid obstacles of local hazardous situations that is unpredictable and highly dynamic. The real-time local hazard avoidance based on the global path planning act as a supplementary to the successful task implementation. This paper sets the USV local obstacle avoidance as the research object, creates a visual environment that include three kinds of obstacle on the simulation experiment platform, and analyze the simulation results of the dynamic window path planning method. The simulation results have verified the feasibility and effectiveness of the algorithm that this paper proposed.