A Hybrid Path-Planning Scheme for an Unmanned Surface Vehicle
| Autor: | Hong Zhao, Gao Yuncheng, Jianchuan Yin, Zhongjiu Zheng, Ning Wang |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science 020101 civil engineering 02 engineering and technology 0201 civil engineering Computer Science::Robotics Vehicle dynamics 020901 industrial engineering & automation Control theory Obstacle Shortest path problem Obstacle avoidance Trajectory Dynamic window approach Motion planning Collision avoidance |
| Zdroj: | 2018 Eighth International Conference on Information Science and Technology (ICIST). |
| DOI: | 10.1109/icist.2018.8426161 |
| Popis: | In this paper, a hybrid path-planning scheme that combines global A* algorithm with local dynamic window based collision avoidance is proposed for an unmanned surface vehicle (USV) in complex environment. Considering the way-points tracking in maritime applications, the A* algorithm with post-smoothed (A* PS) method is employed to reduce the number of way-points, and thereby contributing to plan a shortest path without constraining on grids. The local collision avoidance is realized by the Dynamic Window approach which takes the motion dynamics of the USV into account. Furthermore, a virtual safety zone pertaining to the shape of the obstacle is established to ensure reliable navigation at high speed. Simulation studies demonstrate that the proposed global-local hybrid path-planning scheme achieves remarkable performance and superiority in path planning with obstacle avoidance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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