Journal
OCEAN ENGINEERING
Volume 97, Issue -, Pages 126-144Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2015.01.008
Keywords
USV formation; Path planning; Fast marching method
Funding
- ACCeSS group
- The Atlantic Centre for the innovative design and Control of Small Ships (ACCeSS) [N0014-10-1-0652]
- China Scholarship Council (CSC)
Ask authors/readers for more resources
Unmanned surface vehicles (USVs) have been deployed over the past decade. Current USV platforms are generally of small size with low payload capacity and short endurance times. To improve effectiveness there is a trend to deploy multiple USVs as a formation fleet. This paper presents a novel computer based algorithm that solves the problem of USV formation path planning. The algorithm is based upon the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method. The constrained FM method is able to model the dynamic behaviour of moving ships with efficient computation time. The algorithm has been evaluated using a range of tests applied to a simulated area and has been proved to work effectively in a complex navigation environment. (C) 2015 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available