文章基本信息

标题：Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects
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作者：Gu, Shangding ; Zhou, Chunhui ; Wen, Yuanqiao 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：3
页码：1-19
DOI：10.3390/jmse10030420
语种：English
出版社：MDPI AG
摘要：Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable.
关键词：motion planning; unmanned surface vehicle (USV); effects of wind and current; regularization-trajectory cell