Rapid global path planning algorithm for unmanned surface vehicles in large-scale and multi-island marine environments.

ABSTRACT: A global path planning algorithm for unmanned surface vehicles (USVs) with short time requirements in large-scale and complex multi-island marine environments is proposed. The fast marching method-based path planning for USVs is performed on grid maps, resulting in a decrease in computer efficiency for larger maps. This can be mitigated by improving the algorithm process. In the proposed algorithm, path planning is performed twice in maps with different spatial resolution (SR) grids. The first path planning is performed in a low SR grid map to determine effective regions, and the second is executed in a high SR grid map to rapidly acquire the final high precision global path. In each path planning process, a modified inshore-distance-constraint fast marching square (IDC-FM²) met

SUBMITTER: Wang D 

PROVIDER: S-EPMC8279141 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature