Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects
Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/3/420 |
| _version_ | 1827648249648906240 |
|---|---|
| author | Shangding Gu Chunhui Zhou Yuanqiao Wen Changshi Xiao Alois Knoll |
| author_facet | Shangding Gu Chunhui Zhou Yuanqiao Wen Changshi Xiao Alois Knoll |
| author_sort | Shangding Gu |
| collection | DOAJ |
| description | Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable. |
| first_indexed | 2024-03-09T19:34:40Z |
| format | Article |
| id | doaj.art-74c472c6c9b84481849f225b2cc661c6 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T19:34:40Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-74c472c6c9b84481849f225b2cc661c62023-11-24T01:58:30ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-03-0110342010.3390/jmse10030420Motion Planning for an Unmanned Surface Vehicle with Wind and Current EffectsShangding Gu0Chunhui Zhou1Yuanqiao Wen2Changshi Xiao3Alois Knoll4School of Navigation, Wuhan University of Technology, Wuhan 430062, ChinaSchool of Navigation, Wuhan University of Technology, Wuhan 430062, ChinaNational Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Navigation, Wuhan University of Technology, Wuhan 430062, ChinaDepartment of Informatics, Technical University of Munich, 80333 Munich, GermanyAiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable.https://www.mdpi.com/2077-1312/10/3/420motion planningunmanned surface vehicle (USV)effects of wind and currentregularization-trajectory cell |
| spellingShingle | Shangding Gu Chunhui Zhou Yuanqiao Wen Changshi Xiao Alois Knoll Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects Journal of Marine Science and Engineering motion planning unmanned surface vehicle (USV) effects of wind and current regularization-trajectory cell |
| title | Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects |
| title_full | Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects |
| title_fullStr | Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects |
| title_full_unstemmed | Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects |
| title_short | Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects |
| title_sort | motion planning for an unmanned surface vehicle with wind and current effects |
| topic | motion planning unmanned surface vehicle (USV) effects of wind and current regularization-trajectory cell |
| url | https://www.mdpi.com/2077-1312/10/3/420 |
| work_keys_str_mv | AT shangdinggu motionplanningforanunmannedsurfacevehiclewithwindandcurrenteffects AT chunhuizhou motionplanningforanunmannedsurfacevehiclewithwindandcurrenteffects AT yuanqiaowen motionplanningforanunmannedsurfacevehiclewithwindandcurrenteffects AT changshixiao motionplanningforanunmannedsurfacevehiclewithwindandcurrenteffects AT aloisknoll motionplanningforanunmannedsurfacevehiclewithwindandcurrenteffects |