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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-01-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/1/153 |