The local path planning of unmanned surface vehicle considering motion characteristics
Path planning is the core and key to the safe and autonomous navigation of unmanned boats.The existing path planning algorithms of unmanned boats are mainly static motion path planning without considering the motion charac-teristics of unmanned boats.The obtained path is a polygonal path,which is not suitable for path planning problems with high accuracy requirements such as autonomous navigation in narrow waters.In this paper,based on the mathematical mod-el of USV motion,considering the motion characteristics of USV,according to the constraints of starting point,initial head-ing,destination point and heading requirements of reaching destination point,the number of steering is reduced as much as possible.A composite search strategy numerical algorithm is used to simulate the trajectory of USV in advance until a local path planning scheme that meets the requirements of both distance accuracy and heading accuracy is found.Finally,the feas-ibility and reliability of the algorithm were proved by the actual example simulation.The research results provide a reference for the path planning of USVs and have important engineering application value.
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