Motion planning for an unmanned surface vehicle based on topological position maps
Chunhui Zhou (Wuhan University of Technology, National Engineering Research Center for Water Transport Safety, Hubei Key Laboratory of Inland Shipping Technology)
Shangding Gu (Wuhan University of Technology, Hubei Key Laboratory of Inland Shipping Technology)
Yuanqiao Wen (Wuhan University of Technology, National Engineering Research Center for Water Transport Safety)
Zhe Du (TU Delft - Transport Engineering and Logistics)
Changshi Xiao (Hubei Key Laboratory of Inland Shipping Technology, National Engineering Research Center for Water Transport Safety, Wuhan University of Technology)
Liang Huang (Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, National Engineering Research Center for Water Transport Safety)
Man Zhu (Wuhan University of Technology, National Engineering Research Center for Water Transport Safety)
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Abstract
This paper investigates the motion-planning problem for an unmanned surface vehicle (USV), in which the goal is to find the shortest search time, the shortest path in navigational waters, all subject to collision avoidance and USV dynamics constraints. A new motion-planning method is proposed, based on topological position relationships (TPR), to achieve this solution. Firstly, the TPR of the obstacles and the USV are constructed, based on the spatial distribution of the obstacles. This gives an overall topological navigation map, which is different from the usual grid-based map. Secondly, a numerical model of unit decomposition is built to constrain the dynamics of the USV, so that the motion of the USV better fits the exact situation. Motion planning in this study is achieved by combining the topological navigation map and a numerical model of the USV. Finally, Numerical simulations and field tests verify the effectiveness of our formulated model and proposed algorithm.