R&D Of USV Path Planning Simulation Platform Based On Electronic Chart

Global path planning is planning a collision free path with geographic information between the starting and destination point before USV begin to move.In the global path planning of USV,electronic chart is the main way to get the geographic information.It is real-time and accurate to plan global path with electronic chart.This paper introduces the data format andreading processof electronic chartin detail.The"vectoring around island method" is used in the development of USV global path planning simulation platformbased on electronic chart.The "vectoring around island method" identifiesobstacles between the starting and destination point firstly,and then quantifies the choice ofdirection to pass around obstacles by "direction factor",finally,calculates the shortest path in the form of tangent.The entire process passes around individually,then optimizes globally and completes the calculation of the global path at last.In the simulation platform,the calculationrangeisnarrowed down to the sea area within starting and destination point in path planning computing,andpreliminarily we calculate a rough path.Aftersome treatmentsto preliminary path,all infeasible pathsegments are plannedagain with the two ends of them as new starting point and destination point,then they are added tothe total path.Through the above,a whole cycle is established to complete the calculation of the final path.The global pathplanned by the path planning system is short and reasonable,meanwhile,the time it takes is short.So,it’s feasible to use the path planning system to plan global paths.