The marine environment surrounding islands and reefs exhibit significant time-varying characteristics, which require the path planning algorithm of an unmanned surface vehicle (USV) to have good environmental adaptability. To this end, a dynamic path planning algorithm for USV under an island–reef environment is proposed. The algorithm fully considers these environmental features, such as ocean currents, tides, and winds, to construct an environment model. The environment model is combined with the USV motion model to construct a path planning model under the constraint of environmental disturbance time windows. This approach ensures that the path planning model can adapt to the time-varying marine environment. At the same time, to improve the safety of USV navigation by effectively predicting and timely avoiding passing ships, the velocity obstacle method is introduced for establishing a collision risk assessment model that detects the threat level of passing ships in the vicinity of the USV. Based on the decision-making basis generated by the model, a path replanning model is constructed under the constraint of collision detection time windows. This improves the dynamic collision avoidance capability of the path replanning model. Furthermore, to speed up the solution speed and accuracy of the path planning model and the path replanning model, the multiobjective particle swarm optimization algorithm is improved in three aspects: particle coding method, particle update strategy, and external archive maintenance mechanism. Simulation results show that the algorithm can enable USV to safely avoid multiple close-range dynamic obstacles under maritime rules, while also demonstrating a high level of adaptability to the time-varying marine environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamic Path Planning Algorithm for Unmanned Surface Vehicle Under Island–Reef Environment


    Beteiligte:
    Zhang, Jing (Autor:in) / Cui, Yani (Autor:in) / Li, Guangfu (Autor:in) / Ren, Jia (Autor:in)


    Erscheinungsdatum :

    01.10.2023


    Format / Umfang :

    20331334 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Study on path planning of near-surface vehicle in island and reef areas

    Shi, Yan / Xiong, Zhengxiang / Song, Yuan | SPIE | 2023


    Smoothed A* algorithm for practical unmanned surface vehicle path planning

    Song, R / Liu, Y / Bucknall, R | BASE | 2018

    Freier Zugriff

    Improved inspection unmanned vehicle dynamic path planning method based on DWA algorithm

    ZHAO ZHIGUO / WAN XIAOKANG / PANG MIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff


    Local Path Planning of Unmanned Surface Vehicle Based on Improved DWA Algorithm

    Ji, Chenjia / Zhang, Lanyong | Springer Verlag | 2025