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A Locking Sweeping Method Based Path Planning for Unmanned Surface Vehicles in Dynamic Maritime Environments

Zhuang, J; Luo, J; Liu, Y; (2020) A Locking Sweeping Method Based Path Planning for Unmanned Surface Vehicles in Dynamic Maritime Environments. Journal of Marine Science and Engineering , 8 (11) , Article 887. 10.3390/jmse8110887. Green open access

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Abstract

Unmanned surface vehicles (USVs) are new marine intelligent platforms that can autonomously operate in various ocean environments with intelligent decision-making capability. As one of key technologies enabling such a capability, path planning algorithms underpin the navigation and motion control of USVs by providing optimized navigational trajectories. To accommodate complex maritime environments that include various static/moving obstacles, it is important to develop a computational efficient path planning algorithm for USVs so that real-time operation can be effectively carried out. This paper therefore proposes a new algorithm based on the fast sweeping method, named the locking sweeping method (LSM). Compared with other conventional path planning algorithms, the proposed LSM has an improved computational efficiency and can be well applied in dynamic environments that have multiple moving obstacles. When generating an optimal collision-free path, moving obstacles are modelled with ship domains that are calculated based upon ships’ velocities. To evaluate the effectiveness of the algorithm, particularly the capacity in dealing with practical environments, three different sets of simulations were undertaken in environments built using electronic nautical charts (ENCs). Results show that the proposed algorithm can effectively cope with complex maritime traffic scenarios by generating smooth and safe trajectories.

Type: Article
Title: A Locking Sweeping Method Based Path Planning for Unmanned Surface Vehicles in Dynamic Maritime Environments
Open access status: An open access version is available from UCL Discovery
DOI: 10.3390/jmse8110887
Publisher version: https://doi.org/10.3390/jmse8110887
Language: English
Additional information: © 2020 by the Authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Keywords: USVs; path planning; locking sweeping method; ship domain; electronic nautical charts (ENCs)
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10114394
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