Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments
In this paper, a swarm trajectory-planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path-searching metho...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/12/2/298 |
| _version_ | 1827343400193490944 |
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| author | Anqing Wang Longwei Li Haoliang Wang Bing Han Zhouhua Peng |
| author_facet | Anqing Wang Longwei Li Haoliang Wang Bing Han Zhouhua Peng |
| author_sort | Anqing Wang |
| collection | DOAJ |
| description | In this paper, a swarm trajectory-planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path-searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. The simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory-planning method for a network of ASVs. |
| first_indexed | 2024-03-07T22:25:44Z |
| format | Article |
| id | doaj.art-701efa3e51824d178baf180527f95b76 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-07T22:25:44Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-701efa3e51824d178baf180527f95b762024-02-23T15:23:14ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-02-0112229810.3390/jmse12020298Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea EnvironmentsAnqing Wang0Longwei Li1Haoliang Wang2Bing Han3Zhouhua Peng4College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaCollege of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaCollege of Marine Engineering, Dalian Maritime University, Dalian 116026, ChinaCollege of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaCollege of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaIn this paper, a swarm trajectory-planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path-searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. The simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory-planning method for a network of ASVs.https://www.mdpi.com/2077-1312/12/2/298autonomous surface vehicleskinodynamic path searchinguniform B-spline curvesnonlinear optimization |
| spellingShingle | Anqing Wang Longwei Li Haoliang Wang Bing Han Zhouhua Peng Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments Journal of Marine Science and Engineering autonomous surface vehicles kinodynamic path searching uniform B-spline curves nonlinear optimization |
| title | Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments |
| title_full | Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments |
| title_fullStr | Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments |
| title_full_unstemmed | Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments |
| title_short | Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments |
| title_sort | distributed swarm trajectory planning for autonomous surface vehicles in complex sea environments |
| topic | autonomous surface vehicles kinodynamic path searching uniform B-spline curves nonlinear optimization |
| url | https://www.mdpi.com/2077-1312/12/2/298 |
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