UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

The angle guidance path planning algorithms for unmanned surface vehicle formations by using the fast marching method

Liu, Y; Bucknall, R; (2016) The angle guidance path planning algorithms for unmanned surface vehicle formations by using the fast marching method. Applied Ocean Research , 59 pp. 327-344. 10.1016/j.apor.2016.06.013. Green open access

[img]
Preview
Text
Manuscript.pdf - Accepted version

Download (1MB) | Preview

Abstract

By deploying multiple USVs as a formation fleet, benefits such as wide mission area, improved system autonomy and increased fault-tolerant resilience can be achieved. To efficiently and effectively navigate the USV formation, path planning algorithms are required to generate optimal trajectories and provide practical collision avoidance manoeuvres. In particular, as the USV is underactuated and is restricted by various motion constraints, this paper has presented a new algorithm named the ‘angle-guidance fast marching square’ (AFMS), to make the generated path compliant with vehicle's dynamics and orientation restrictions. Based upon the AFMS, a formation path planning algorithm has been proposed to guide the USVs safely navigating in a cluttered environment. In addition, the formation forming problem has been specifically investigated with the algorithm being developed to make the USVs capable of forming the desired shape by following the trajectories from random initial configurations (positions and orientations). In order to eliminate the potential collision risks occurring on the route, a novel priority scheme based upon the distance to the closest point of approaching (DCPA) has also been proposed and developed. Algorithms have been validated on the computer-based simulations and are proven to work effectively in different environments.

Type: Article
Title: The angle guidance path planning algorithms for unmanned surface vehicle formations by using the fast marching method
Open access status: An open access version is available from UCL Discovery
DOI: 10.1016/j.apor.2016.06.013
Publisher version: http://dx.doi.org/10.1016/j.apor.2016.06.013
Language: English
Additional information: Copyright © 2016 Elsevier Ltd. All rights reserved.
Keywords: USV formation; Path planning; USV heading; Angle-guidance fast marching square
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/1501118
Downloads since deposit
261Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item