Path planning on satellite images for unmanned surface vehicles
In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehic...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2015-01-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678216301030 |
| _version_ | 1819153299312476160 |
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| author | Joe-Ming Yang Chien-Ming Tseng P.S. Tseng |
| author_facet | Joe-Ming Yang Chien-Ming Tseng P.S. Tseng |
| author_sort | Joe-Ming Yang |
| collection | DOAJ |
| description | In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A * algorithm (FAA *), an advanced A * algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV |
| first_indexed | 2024-12-22T15:02:59Z |
| format | Article |
| id | doaj.art-a6810db42cbd4731bcbb3fc8335ff902 |
| institution | Directory Open Access Journal |
| issn | 2092-6782 |
| language | English |
| last_indexed | 2024-12-22T15:02:59Z |
| publishDate | 2015-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | International Journal of Naval Architecture and Ocean Engineering |
| spelling | doaj.art-a6810db42cbd4731bcbb3fc8335ff9022022-12-21T18:22:04ZengElsevierInternational Journal of Naval Architecture and Ocean Engineering2092-67822015-01-0171879910.1515/ijnaoe-2015-0007ijnaoe-2015-0007Path planning on satellite images for unmanned surface vehiclesJoe-Ming Yang0Chien-Ming Tseng1P.S. Tseng2Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University Tainan, TaiwanDepartment of Electrical Engineering and Computer Science, Masdar Institute, Abu Dhabi, UAE.Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University Tainan, TaiwanIn recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A * algorithm (FAA *), an advanced A * algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USVhttp://www.sciencedirect.com/science/article/pii/S2092678216301030A* algorithmCollision avoidanceImage analysis |
| spellingShingle | Joe-Ming Yang Chien-Ming Tseng P.S. Tseng Path planning on satellite images for unmanned surface vehicles International Journal of Naval Architecture and Ocean Engineering A* algorithm Collision avoidance Image analysis |
| title | Path planning on satellite images for unmanned surface vehicles |
| title_full | Path planning on satellite images for unmanned surface vehicles |
| title_fullStr | Path planning on satellite images for unmanned surface vehicles |
| title_full_unstemmed | Path planning on satellite images for unmanned surface vehicles |
| title_short | Path planning on satellite images for unmanned surface vehicles |
| title_sort | path planning on satellite images for unmanned surface vehicles |
| topic | A* algorithm Collision avoidance Image analysis |
| url | http://www.sciencedirect.com/science/article/pii/S2092678216301030 |
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