USV Trajectory Planning Based on Input Constraints and Fuzzy Parameters
A trajectory planning algorithm for unmanned surface vessel(USV)based on input con-straints and parameter fuzzy selection is proposed to address the issues of low success rate of obsta-cle avoidance and suboptimal navigation routes in complex environments.Firstly,based on the dy-namic window method and combined with the dynamic characteristics of USV,conservative con-straints are applied to the system input by using the velocity obstacle method,which strictly en-sures that USV not collide with obstacles.Then a fuzzy parameter selector is designed by using an expert knowledge base to make the input of the planning system more in line with human manipu-lation habits.Finally,the proposed algorithm is compared with existing methods,and a comprehen-sive simulation study is carried out.The results show that the USV trajectory planning method based on input constraints and parameter fuzzy selection has better planning performance in safety obstacle avoidance and optimal route selection.
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