2023
DOI: 10.3390/jmse11122320
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Maritime Search Path Planning Method of an Unmanned Surface Vehicle Based on an Improved Bug Algorithm

Xiuling Wang,
Yong Yin,
Qianfeng Jing

Abstract: Due to the complicated and changing circumstances of the sea environment, path planning technology is essential for unmanned surface vehicles (USVs) to fulfill search tasks. In most cases, the location of the underwater target is unknown, so it is necessary to completely cover the search area. In this paper, the global static path is planned using a parallel line scan search. When encountering unknown obstacles, the improved Bug algorithm is used for local dynamic path planning according to the sensor detectio… Show more

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“…The three versions are shown in Figure 7. A maritime search route planning method for unmanned surface vehicles (USVs) based on the improved Bug algorithm presented here is also presented in [36].…”
mentioning
confidence: 99%
“…The three versions are shown in Figure 7. A maritime search route planning method for unmanned surface vehicles (USVs) based on the improved Bug algorithm presented here is also presented in [36].…”
mentioning
confidence: 99%