Journal of Marine Science and Engineering (Mar 2022)

Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects

  • Shangding Gu,
  • Chunhui Zhou,
  • Yuanqiao Wen,
  • Changshi Xiao,
  • Alois Knoll

DOI
https://doi.org/10.3390/jmse10030420
Journal volume & issue
Vol. 10, no. 3
p. 420

Abstract

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Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable.

Keywords