Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments

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...

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Bibliographic Details
Main Authors: Anqing Wang, Longwei Li, Haoliang Wang, Bing Han, Zhouhua Peng
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Journal of Marine Science and Engineering
Subjects:
autonomous surface vehicles
kinodynamic path searching
uniform B-spline curves
nonlinear optimization
Online Access:https://www.mdpi.com/2077-1312/12/2/298

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