Song, R;
Liu, Y;
Bucknall, R;
(2017)
A multi-layered fast marching method for unmanned surface vehicle path planning in a time-variant maritime environment.
Ocean Engineering
, 129
pp. 301-317.
10.1016/j.oceaneng.2016.11.009.
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Rui Song paper Ocean Engineering for Open Access.pdf - Accepted Version Download (4MB) | Preview |
Abstract
Concerns regarding the influence of the marine environment, such as surface currents and winds, on autonomous marine vehicles have been raised in recent years. A number of researchers have been working on the development of intelligent path planning algorithms to minimise the negative effects of environmental influences, however most of this work focuses on the platform of autonomous underwater vehicles (AUVs) with very little work on unmanned surface vehicles (USVs). This paper presents a novel multi-layered fast marching (MFM) method developed to generate practical trajectories for USVs when operating in a dynamic environment. This method constructs a synthetic environment framework, which incorporates the information of planning space and surface currents. In terms of the planning space, there are repelling and attracting forces, which are evaluated using an attractive/repulsive vector field construction process. The influence of surface currents is weighted against the obstacles in the planning space using a 4-regime risk strategy. A trajectory is then calculated using the anisotropic fast marching method. The complete algorithm has been tested and validated using simulated surface currents, and the performance of generated trajectories have been evaluated in terms of different optimisation criteria, such as the distance and energy consumption.
| Type: | Article |
|---|---|
| Title: | A multi-layered fast marching method for unmanned surface vehicle path planning in a time-variant maritime environment |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.oceaneng.2016.11.009 |
| Publisher version: | http://dx.doi.org/10.1016/j.oceaneng.2016.11.009 |
| Language: | English |
| Additional information: | Copyright © 2016. This manuscript version is published under a Creative Commons Attribution Non-commercial Non-derivative 4.0 International licence (CC BY-NC-ND 4.0). This licence 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 licences are available at http://creativecommons.org/licenses/by/4.0. Access may be initially restricted by the publisher. |
| Keywords: | Anisotropic fast marching; Marine environment; Path planning; Surface currents; Unmanned surface vehicle |
| 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 UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Maths and Physical Sciences |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1534627 |
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