Liu, Y;
Bucknall, R;
(2015)
Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment.
Ocean Engineering
, 97
126 - 144.
10.1016/j.oceaneng.2015.01.008.
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Abstract
Unmanned surface vehicles (USVs) have been deployed over the past decade. Current USV platforms are generally of small size with low payload capacity and short endurance times. To improve effectiveness there is a trend to deploy multiple USVs as a formation fleet. This paper presents a novel computer based algorithm that solves the problem of USV formation path planning. The algorithm is based upon the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method. The constrained FM method is able to model the dynamic behaviour of moving ships with efficient computation time. The algorithm has been evaluated using a range of tests applied to a simulated area and has been proved to work effectively in a complex navigation environment.
| Type: | Article |
|---|---|
| Title: | Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.oceaneng.2015.01.008 |
| Publisher version: | http://dx.doi.org/10.1016/j.oceaneng.2015.01.008 |
| Language: | English |
| Additional information: | Copyright Elsevier 2015. This article is published under a Creative Commons Attribution Non-commercial Non-derivative 4.0 International license (CC BY-NC-ND 4.0). This license allows you to share, copy, distribute and transmit the work for personal and non-commercial use providing author and publisher attribution is clearly stated. Further details about CC BY licenses are available at http://creativecommons.org/ licenses/by/4.0. Access may be initially restricted by the author. |
| Keywords: | USV formation; Path planning; Fast marching method |
| UCL classification: | UCL 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/1464469 |
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