The review unmanned surface vehicle path planning
Based on multi-modality constraint
Chunhui Zhou (Wuhan University of Technology, Hubei Key Laboratory of Inland Shipping Technology, National Engineering Research Center for Water Transport Safety (WTSC))
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 (WTSC))
Zhe Du (TU Delft - Transport Engineering and Logistics)
Changshi Xiao (Wuhan University of Technology, Hubei Key Laboratory of Inland Shipping Technology, National Engineering Research Center for Water Transport Safety (WTSC))
Liang Huang (Wuhan University of Technology, Hubei Key Laboratory of Inland Shipping Technology, National Engineering Research Center for Water Transport Safety (WTSC))
Man Zhu (Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, National Engineering Research Center for Water Transport Safety (WTSC))
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Abstract
The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.