ABSTRACT In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A* algorithm (FAA*), an advanced A* algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.


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    Titel :

    Path planning on satellite images for unmanned surface vehicles


    Beteiligte:
    Yang, Joe-Ming (Autor:in) / Tseng, Chien-Ming (Autor:in) / Tseng, P.S. (Autor:in)


    Erscheinungsdatum :

    2015




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch


    Klassifikation :

    BKL:    55.40 Schiffstechnik, Schiffbau / 50.92 Meerestechnik, Meerestechnik / 55.40 Schiffstechnik, Schiffbau, Schiffstechnik, Schiffbau / 50.92 Meerestechnik



    Path planning on satellite images for unmanned surface vehicles

    Joe-Ming Yang / Chien-Ming Tseng / P.S. Tseng | DOAJ | 2015

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    Angular rate-constrained path planning algorithm for unmanned surface vehicles

    Kim, Hanguen / Kim, Donghoon / Shin, Jae-Uk et al. | Tema Archiv | 2014



    Cooperative path planning of unmanned aerial vehicles

    Tsourdos, Antonios ;White, Brian ;Shanmugavel, Madhavan | SLUB | 2011