Research On Path Planning Of Unmanned Surface Vessels

Nowadays,with the rapid development of artificial intelligence technology,unmanned surface vessels,as a new type of intelligent ship,appears in people's vision.Because of the unique role of unmanned surface vessels in the marine field,many scholars have a strong interest in it.Path planning is not only a subsystem of the whole unmanned surface vessels system,but also the basis of the whole system.The result of path planning will be an important input parameter of the unmanned surface vessels control system.The accuracy and executability of the result will have a tremendous impact on the actual operation and control of the unmanned surface vessels.Path planning can be divided into tow parts:global planning and local planning.The main problem of global path planning is how to plan a feasible path between the starting point and the target point according to the static and overall environmental information.Local path planning is a feasible path to avoid dynamic obstacles based on the results of global path planning combined with dynamic information in the actual navigation process of unmanned surface vessels.Because global path planning plays an important role in the study of unmanned surface vessels,this paper studies the following aspects:(1)By consulting a large number of documents at home and abroad and investigating relevant research institutes of unmanned surface vessels,the research status of unmanned surface vessels and their path planning is summarized.(2)Selecting S-57 electronic chart as the data source of the environmental model of route planning for unmanned surface vessels,and introducing two methods of analyzing S-57 electronic chart.Through these two methods,the electronic chart environmental model of route planning for unmanned surface vessels is established.(3)Firstly,the initial path planning is carried out by using A* algorithm.Then,aiming at the shortcomings of the traditional A* algorithm,a path node optimization algorithm is designed to process the redundant path nodes in the initial results.Then,based on the Fermat Spiral curve and the motion characteristics of unmanned surface vessels,the optimized path is smoothed to obtain a continuous azimuth and curvature.Finally,the results of path planning algorithm are analyzed and summarized through C++ programming.