A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels

Candeloro, Mauro; Lekkas, Anastasios M.; Sørensen, Asgeir J.

doi:10.1016/j.conengprac.2017.01.007

Cited by 109 publications

(60 citation statements)

References 41 publications

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“…The real task area is partitioned to reduce the modeling complexity. Visibility graphs [23], Voronoi diagrams [24], and grid maps [25] are the most commonly used path planning algorithms. The grid mapbased path planning algorithm is powerful in that it generates a path with the shortest computation time [25].…”

Section: Path Representation By Gridsmentioning

confidence: 99%

Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm

Xia

Han

Zhao

et al. 2019

Mathematical Problems in Engineering

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As a tool to monitor marine environments and to perform dangerous tasks instead of manned vessels, unmanned surface vehicles (USVs) have extensive applications. Because most path planning algorithms have difficulty meeting the mission requirements of USVs, the purpose of this study was to plan a global path with multiple objectives, such as path length, energy consumption, path smoothness, and path safety, for USV in marine environments. A global path planning algorithm based on an improved quantum ant colony algorithm (IQACA) is proposed. The improved quantum ant colony algorithm is an algorithm that benefits from the high efficiency of quantum computing and the optimization ability of the ant colony algorithm. The proposed algorithm can plan a path considering multiple objectives simultaneously. The simulation results show that the proposed algorithm’s obtained minimum was 2.1–6.5% lower than those of the quantum ant colony algorithm (QACA) and ant colony algorithm (ACA), and the number of iterations required to converge to the minimum was 11.2–24.5% lower than those of the QACA and ACA. In addition, the optimized path for the USV was obtained effectively and efficiently.

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Section: Path Representation By Gridsmentioning

confidence: 99%

Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm

Xia

Han

Zhao

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…to describe crystal structure and the structure of atoms in a three--dimensional form (Y. Xu et al 2013), or for planning paths for Unmanned Underwater Vehicles (UUVs) (M. Candeloro et al 2017). T. van der Putte (2009) extensively presented possible usage of Voronoi diagrams in 3D modeling.…”

Section: Computer Graphic Designmentioning

confidence: 99%

Voronoi diagrams – inventor, method, applications

Pokojski

Pokojska

2018

Polish Cartographical Review

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The article presents the person and works of Georgy Voronoi (1868-1908), the inventor of an original method of diagrams, a student of the famous mathematician Andrey Markov. Georgy Voronoi graduated from the Department of Physics and Mathematics at the University of St. Petersburg, and subsequently worked as a professor of mathematics at the Imperial University of Warsaw. One of his students was the future outstanding Polish mathematician Wacław Sierpiński. In his brief lifetime G. Voronoi published several important scientific articles on number theory. In an almost 100 page paper in French published in 1908 he described a method of diagrams, or polygons, which became known as the method of Voronoi diagrams. In the digital age this method and its modifications found new applications. The entry “Voronoi” is getting more popular on the Internet, and the method of Voronoi diagrams and its modifications are widely described in handbooks and scientific articles. The article presents application of the method in the most popular computer programs from the Geographic Information System (GIS) group and presents examples of its usage in research on geographic space in various scientific disciplines.

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“…Some researchers have applied COLREGs to actual collision avoidance. When a ship was detected, the range of its position during a given time frame was estimated, and the path planning system, considering COLREGs, produced a new, safe, and smooth path in real time [16]. Based on the motion velocity model and COLREGs, a reverse eccentric expansion method was designed to deal with dynamic obstacles [17].…”

Section: Introductionmentioning

confidence: 99%

Local Path Planning for Unmanned Surface Vehicle Collision Avoidance Based on Modified Quantum Particle Swarm Optimization

et al. 2020

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An unmanned surface vehicle (USV) plans its global path before the mission starts. When dynamic obstacles appear during sailing, the planned global path must be adjusted locally to avoid collision. This study proposes a local path planning algorithm based on the velocity obstacle (VO) method and modified quantum particle swarm optimization (MQPSO) for USV collision avoidance. The collision avoidance model based on VO not only considers the velocity and course of the USV but also handles the variable velocity and course of an obstacle. According to the collision avoidance model, the USV needs to adjust its velocity and course simultaneously to avoid collision. Due to the kinematic constraints of the USV, the velocity window and course window of the USV are determined by the dynamic window approach (DWA). In summary, local path planning is transformed into a multiobjective optimization problem with multiple constraints in a continuous search space. The optimization problem is to obtain the USV’s optimal velocity variation and course variation to avoid collision and minimize its energy consumption under the rules of the International Regulations for Preventing Collisions at Sea (COLREGs) and the kinematic constraints of the USV. Since USV local path planning is completed in a short time, it is essential that the optimization algorithm can quickly obtain the optimal value. MQPSO is primarily proposed to meet that requirement. In MQPSO, the efficiency of quantum encoding in quantum computing and the optimization ability of representing the motion states of the particles with wave functions to cover the whole feasible solution space are combined. Simulation results show that the proposed algorithm can obtain the optimal values of the benchmark functions and effectively plan a collision-free path for a USV.

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A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels

Cited by 109 publications

References 41 publications

Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm

Global Path Planning for Unmanned Surface Vehicle Based on Improved Quantum Ant Colony Algorithm

Voronoi diagrams – inventor, method, applications

Local Path Planning for Unmanned Surface Vehicle Collision Avoidance Based on Modified Quantum Particle Swarm Optimization

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