Rapid path planning for unmanned surface vessels

Yueming Qin; Junxin Liu; Xing Shao; Suping Duan

doi:10.1117/12.2538593

14 February 2020 Rapid path planning for unmanned surface vessels

Yueming Qin, Junxin Liu, Xing Shao, Suping Duan

Proceedings Volume 11432, MIPPR 2019: Remote Sensing Image Processing, Geographic Information Systems, and Other Applications; 1143217 (2020) https://doi.org/10.1117/12.2538593
Event: Eleventh International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR2019), 2019, Wuhan, China

Abstract

Path planning is of essential importance for Unmanned Surface Vessels (USV). Lots of path planning algorithms have been proposed in the last few years, however these algorithms have high computational complexity. Therefore, these algorithms are time consuming and not suitable for online path planning. In this paper, a rapid path planning algorithm for USVs is developed. The proposed algorithm segments the searching space into three subspaces: starting subspace, end subspace and passing subspace. With consider the performances of USVs, our algorithm plans a path from the edge of the starting subspace to the end subspace. Therefore the computational complexity is dramatically decreased. The experiment results show that the proposed scheme is efficient to fulfill the path planning task.

Citation Download Citation

Yueming Qin, Junxin Liu, Xing Shao, and Suping Duan "Rapid path planning for unmanned surface vessels", Proc. SPIE 11432, MIPPR 2019: Remote Sensing Image Processing, Geographic Information Systems, and Other Applications, 1143217 (14 February 2020); https://doi.org/10.1117/12.2538593

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