Path planning method for unmanned surface vehicle with controllable distance from obstacles

Path planning method for unmanned surface vehicle with controllable distance from obstacles

ObjectivesIn order to solve the problems of safety and smoothness in the path planning of an unmanned surface vehicle (USV), a path planning method with a controllable distance from obstacles is proposed.MethodsFirst, the raster environment information is generated in combination with the radar imag...

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Bibliographic Details
Main Authors: Bing YANG, Jiansen ZHAO, Shengzheng WANG, Zongxuan XIE, Xuesheng ZHANG
Format: Article
Language:English
Published: Editorial Office of Chinese Journal of Ship Research 2022-12-01
Series:Zhongguo Jianchuan Yanjiu
Subjects:
unmanned surface vehicle (usv)
path planning
improved a-star algorithm
path smoothing
gradient descent method
Online Access:http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02368

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http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02368

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