Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass through Narrow Waters
Shuo Li,
Fei Teng,
Geyang Xiao
et al.
Abstract:Safety and efficiency are important when Unmanned Surface Vehicles (USVs) pass through narrow waters in complex marine environments. This paper considers the issue of path planning for USVs passing through narrow waterways. We propose a distributed optimization algorithm based on a polymorphic network architecture, which maintains connectivity and avoids collisions between USVs while planning optimal paths. Firstly, the initial path through the narrow waterway is planned for each USV using the narrow water sta… Show more
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