Trajectory Planning of USV: On-Line Computation of the Double S Trajectory Based on Multi-Scale A* Algorithm with Reeds–Shepp Curves

Trajectory planning aims to provide a time-related control target that contains the concerned states. For an underactuated surface vehicle (USV), planning challenges include limitations on curvature, speed, acceleration, and jerk. These challenges are relevant for the precise control of USVs. To sol...

Полное описание

Библиографические подробности
Главные авторы: Xu Han, Xianku Zhang, Hugan Zhang
Формат: Статья
Язык:English
Опубликовано: MDPI AG 2023-01-01
Серии:Journal of Marine Science and Engineering
Предметы:
Online-ссылка:https://www.mdpi.com/2077-1312/11/1/153