Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

Liu, Yuanchang; Bucknall, Rwg

doi:10.1016/j.oceaneng.2015.01.008

Cited by 212 publications

(105 citation statements)

References 34 publications

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“…The heuristic is a weighted distance that remains to be marched to the goal point. A parameter λ, ranging from 0 to 100%, is introduced in the cost function as represented in (11) to represent the weight of heuristic influence.…”

Section: B Fm* Methodsmentioning

confidence: 99%

Aspects of a reliable autonomous navigation and guidance system for an unmanned surface vehicle

Song

Liu

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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Abstract-This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed facilitating the system generating a more reliable guidance route. The route is calculated using a newly developed algorithm named the constrained FM*. The new NG system has been verified in simulation environments with results proving the effectiveness and capabilities of the system.

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Section: B Fm* Methodsmentioning

confidence: 99%

Aspects of a reliable autonomous navigation and guidance system for an unmanned surface vehicle

Song

Liu

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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“…Modelling of dynamic obstacles on a map for maritime path planning is defined in terms of the velocity of the moving obstacle in the maritime environment. [20] has suggested a circular shape for slow-moving obstacles and elliptical shapes for fast moving obstacles to incorporate the uncertainty of the moving obstacle in graph-based heuristic approaches. Therefore, an elliptical shape has been adopted in the current study as shown in Fig.8(b).…”

Section: B Constrained Dijkstra Approach With Partially Dynamic Envimentioning

confidence: 99%

Feasibility study of a constrained Dijkstra approach for optimal path planning of an unmanned surface vehicle in a dynamic maritime environment

Singh

Sharma

Sutton

et al. 2018

2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

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Optimal path planning is an important part of mission management hierarchy in a modern unmanned surface vehicle (USV) guidance, navigation and control frame work. USVs operate in a complex dynamic marine environment comprising of moving obstacles and sea surface currents. These characterising variables of configuration space change spatially as well as temporally. The current work investigates a well-known search technique, the Dijkstra algorithm, to resolve the problem of motion planning for a USV moving in a maritime environment. The current study extends the implementation of Dijkstra algorithm in a space cluttered with static and moving obstacles. In addition, downstream and upstream effects of sea surface currents of different intensities on optimal path planning are studied. The performance is verified in simulations with total path length and elapsed computational time considered as parameters to determine the effectiveness of the adopted approach. The results showed that the approach is effective for global path planning of USVs.

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“…Also some popular graph search algorithms like A* (Al-Hasan and Vachtsevanos 2002;Pereira et al 2013) and Dijkstra (Eichhorn 2015) have been applied to determine a grid or cell-based route from the start to the destination point. Liu and Bucknall (2015) proposed a threelayer structure to facilitate multiple unmanned surface vehicles to accomplish task management and formation path planning in a maritime environment, in which the mission is divided between vehicles according to general mission requirement. Eichhorn (2015) implemented graph-based methods for the AUV ''SLOCUM Glider'' motion planning in a dynamic environment.…”

Section: Vehicle Task Assignment-routingmentioning

confidence: 99%

A novel versatile architecture for autonomous underwater vehicle’s motion planning and task assignment

Zadeh¹,

Powers²,

Sammut³

et al. 2016

Soft Comput

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Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the mission productivity in a restricted time. This paper focuses on developing a deliberative conflict-free-task assignment architecture encompassing a Global Route Planner (GRP) and a Local Path Planner (LPP) to provide consistent motion planning encountering both environmental dynamic changes and a priori knowledge of the terrain, so that the AUV is reactively guided to the target of interest in the context of an uncertain underwater environment. The architecture involves three main modules: The GRP module at the top level deals with the task priority assignment, mission time management, and determination of a feasible route between start and destination point in a large scale environment. The LPP module at the lower level deals with safety considerations and generates collision-free optimal trajectory between each specific pair of waypoints listed in obtained global route. Re-planning module tends to promote robustness and reactive ability of the AUV with respect to the environmental changes. The experimental results for different simulated missions, demonstrate the inherent robustness and drastic efficiency of the proposed scheme in enhancement of the vehicles autonomy in terms of mission productivity, mission time management, and vehicle safety.

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Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

Cited by 212 publications

References 34 publications

Aspects of a reliable autonomous navigation and guidance system for an unmanned surface vehicle

Aspects of a reliable autonomous navigation and guidance system for an unmanned surface vehicle

Feasibility study of a constrained Dijkstra approach for optimal path planning of an unmanned surface vehicle in a dynamic maritime environment

A novel versatile architecture for autonomous underwater vehicle’s motion planning and task assignment

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