Path planning for auto docking of underactuated ships based on Bezier curve and hybrid A* search algorithm

ObjectiveThis paper develops a multi-stage path planning algorithm for the auto docking operation of an underactuated surface vehicle (USV). As one of the most difficult tasks, docking requires advanced maneuvering skills. Therefore, it is necessary to generate a smooth trajectory in the berthing en...

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Bibliographic Details
Main Authors:	Zhihuan HU, Ziheng YANG, Weidong ZHANG
Format:	Article
Language:	English
Published:	Editorial Office of Chinese Journal of Ship Research 2024-02-01
Series:	Zhongguo Jianchuan Yanjiu
Subjects:	underactuated ship path planning auto docking hybrid a* search algorithm bezier curve
Online Access:	http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03232

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http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03232

Path planning for auto docking of underactuated ships based on Bezier curve and hybrid A* search algorithm

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