NDLI: A practical path planning and navigation algorithm for an unmanned surface vehicle using the fast marching algorithm

Content Provider	IEEE Xplore Digital Library
Author	Yuanchang Liu Rui Song Bucknall, R.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Univ. Coll. London, London, UK (Yuanchang Liu; Rui Song; Bucknall, R.)
Abstract	There has been an increasing interest in the development of unmanned surface vehicles (USVs) in recent decades. As USVs are required to carry out complex missions without any human intervention in various environments, an intelligent path planning algorithm is critical. A path planning algorithm is able to utilise environment data to calculate an optimal trajectory to guarantee safety. To achieve this, in this paper, a novel path planning and navigation (PN) algorithm is proposed. The PN algorithm uses the fast marching method (FMM) as the base algorithm to search for an optimal collision-free trajectory. Then, to facilitate the trajectory tracking of the USV, a new waypoint-generator based on the line-of-sight (LOS) is developed to generate the optimal number of waypoints from the path. The proposed algorithm has been evaluated based on the Springer USV, and has been shown that it can be seamlessly integrated with the Springer's exiting autopilot to achieve full autonomy.
Starting Page	1
Ending Page	7
File Size	593399
Page Count	7
File Format	PDF
e-ISBN	9781479987368
DOI	10.1109/OCEANS-Genova.2015.7271338
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-18
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Navigation Trajectory Heuristic algorithms Vehicles Computational modeling waypoint tracking unmanned surface vehicle (USV) path planning algorithm USV dynamics
Content Type	Text
Resource Type	Article

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