The review unmanned surface vehicle path planning: Based on multi-modality constraint

OCEAN ENGINEERING

卷:200

Review

Zhou, Chunhui^1,2,3  Gu, Shangding^1,2  Wen, Yuanqiao^3,4  Du, Zhe⁵  Xiao, Changshi^1,2,3  Huang, Liang^2,3,4  Zhu, Man^2,3,4 

[1] Wuhan Univ Technol, Sch Nav, Wuhan 430063, Peoples R China

[2] Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Peoples R China

[3] Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Peoples R China

[4] Wuhan Univ Technol, Intelligent Transport Syst Ctr, Wuhan 430063, Peoples R China

[5] Delft Univ Technol, Fac Mech Maritime & Mat Engn, Dept Marine & Transport Technol, NL-2628 BX Delft, Netherlands

关键词: Unmanned surface vehicle (USV);    Path planning;    Route planning;    Trajectory planning;    Motion planning;    Multi-modality constraint;   

DOI  :  10.1016/j.oceaneng.2020.107043

来源: Elsevier

【 摘 要 】

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.

【 授权许可】

Free