Dynamic Path Planning Method for Unmanned Surface Vessels in Complex Traffic Conditions of Island Reefs Waters

Abstract

Unmanned Surface Vehicles (USVs) operating in complex traffic conditions in island reef waters often require different types of algorithms. Therefore, selecting a dynamic path-planning algorithm with strong adaptability has become a new challenge. This paper proposes a dynamic adaptive path planning algorithm for USVs, incorporating an improved Dynamic Window Approach (DWA) with fuzzy logic and the International Regulations for Preventing Collisions at Sea (COLREGS). The algorithm is designed by integrating three key aspects: evaluation function, fuzzy control, and COLREGS. First, to enable USVs to approach the target point more safely and quickly during navigation, an additional target point attraction sub-function is introduced, extending the original evaluation function. Furthermore, to ensure robust dynamic path planning for USVs across various water environments, such as narrow channels, reef-laden waters, and open seas, fuzzy logic is integrated with the improved DWA algorithm. Since USVs must comply with COLREGS during navigation, the algorithm incorporates these regulations, enhancing the DWA algorithm with fuzzy logic to ensure compliance. Finally, simulation experiments validate the proposed algorithm, demonstrating that the planned paths are safer and more stable, ensuring the safe navigation of USVs in compliance with COLREGS.

Keywords

• USV
• adaptation
• fuzzy logic
• COLREGS
• DWA