Chapter
Jul 3, 2013
Research Of Unmanned Surface Vessel (USV) Path-Planning Algorithm Based on ArcGIS
Authors: Bo Wu [email protected], Yuanqiao Wen 3444324@qq,com, Yamin Huang, and Man ZhuAuthor Affiliations
Publication: ICTIS 2013: Improving Multimodal Transportation Systems-Information, Safety, and Integration
Abstract
In order to solve the problem of path-planning for an unmanned surface vessel (USV), a traversal algorithm based on ArcGis is presented. Firstly, ArcGis in the algorithm is selected to choose navigation area based on the layered Electronic Chart, using global path planning and local path planning method to find approximate navigable path. Then, he Voronoi diagram is selected to establish the navigation path set for dynamic objects or obstacles which can be regarded as particles. Last, according to the oars, the rudder and maneuver characteristic of USV, the actual sailing and maneuvering conditions are used to optimize the path of the navigable which is the public area of navigation area (or minor hinders navigation area) and the navigation path set. Matlab based simulations demonstrate that when the obstacle position coordinates or destination location coordinates can generate approximate navigable path. Generating different approximate navigable path can be optimized for optimal safety navigable path, so the constructing environment model and the use of the path planning algorithm are available and effective.
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© 2013 American Society of Civil Engineers.
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Published online: Jul 3, 2013
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Graduate, Hubei Inland Shipping Technology Key Laboratory, Wuhan University of Technology, School of Navigation, Wuhan, Hubei, China. E-mail: [email protected]
Professor, Hubei Inland Shipping Technology, Key Laboratory, Wuhan University of Technology, School of Navigation, Wuhan, Hubei, China. E-mail: 3444324@qq,com
Yamin Huang
Graduate, Hubei Inland Shipping Technology Key Laboratory, Wuhan University of Technology, School of Navigation, Wuhan, HuBei, China
Man Zhu
Graduate, Hubei Inland Shipping Technology Key Laboratory, Wuhan University of Technology, School of Navigation, Wuhan, Hubei, China
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