Research on obstacle avoidance strategy of USV based on improved grid method

Linwen Yu; Tonghui Qian; Xi Ye; Fang Zhou; Zhigang Luo; Ao Zou

doi:10.1117/12.2620444

29 November 2021 Research on obstacle avoidance strategy of USV based on improved grid method

Linwen Yu, Tonghui Qian, Xi Ye, Fang Zhou, Zhigang Luo, Ao Zou

Proceedings Volume 12080, 4th International Symposium on Power Electronics and Control Engineering (ISPECE 2021); 120800Q (2021) https://doi.org/10.1117/12.2620444
Event: 4th International Symposium on Power Electronics and Control Engineering (ISPECE 2021), 2021, Nanchang, China

Abstract

As a new type of water operation platform in recent years, surface unmanned boats have gradually become a hotspot for many scholars to study. The path planning capability of unmanned boat is an important measure of the intelligence degree of unmanned boat. To address the obstacle avoidance problem of surface autonomous unmanned boat path planning, this paper proposes a global path planning method for surface autonomous unmanned boats based on the improved grid method by modeling the known water environment with a grid method. In order to accurately simulate the impact of obstacles on the path planning of surface autonomous unmanned boats due to the drifting effect, this paper simulates the drifting increment of obstacles on the water surface by setting different obstacle forms and sizes, and conducts a MATLAB simulation platform to simulate the drifting increment of obstacles on the water surface. The simulation experiments prove the real reliability of the improved obstacle avoidance strategy algorithm proposed in the main paper.

Citation Download Citation

Linwen Yu, Tonghui Qian, Xi Ye, Fang Zhou, Zhigang Luo, and Ao Zou "Research on obstacle avoidance strategy of USV based on improved grid method", Proc. SPIE 12080, 4th International Symposium on Power Electronics and Control Engineering (ISPECE 2021), 120800Q (29 November 2021); https://doi.org/10.1117/12.2620444

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