Autonomous surface vessels have attracted significant attention from scholars in the shipping and marine community in recent years. Researchers have focused on methods that consider the dynamics of the vessel to develop effective trajectory generation strategies for these vessels. Efficient trajectory generation is indispensable, but conventional path planning algorithms based on search and sampling are less applicable. To plan trajectories exclusively in the flat output space, we utilize the differential flatness property. In this paper, we use the basic artificial potential field method for front-end trajectory search and present a method for generating feasible trajectories for these vessels using piecewise Bézier curves. By incorporating Bernstein polynomial basis functions and optimizing the cost function with necessary constraints, we convert the problem into a typical convex quadratic programming format. Finally, we evaluate the efficacy of the method by conducting numerical simulation experiments.
Trajectory Generation for Autonomous Surface Vessels Based on Bézier Curves
2023-08-04
832796 byte
Conference paper
Electronic Resource
English
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