A Method of Path Planning on Safe Depth for Unmanned Surface Vehicles Based on Hydrodynamic Analysis
Source abstract
Abstract
The depth of water is of great significance to the safe navigation of unmanned surface vehicles (USV)in shallow waters, such as islands and reefs. How to consider the influence of depth on the safety of USV navigation and path planning is relatively rare. Under the condition of ocean disturbance, the hydrodynamic characteristics of unmanned surface vehicles will affect its draft and depth safety. In this paper, the hydrodynamic model of unmanned surface vehicles is analyzed, and a water depth risk level A* algorithm (WDRLA*) is proposed. According to the depth point of the electronic navigation chart (ENC), the gridding depth can be obtained by spline function interpolation. The WDRLA* algorithm is applied to plan the path, which takes hydrodynamic characteristics and navigation errors into account. It is compared with the traditional A* shortest path and safest path. The simulation results show that the WDRLA* algorithm can reduce the depth hazard of the shortest path and ensure the safety of navigation.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Maritime Navigation and Safety · Ship Hydrodynamics and Maneuverability · Maritime Security and History
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Marine Science and Technology, Tianjin University, Tianjin 300072, China
Tianjin Port Environmental Monitoring Engineering Center, Tianjin 300072, China
Funding
Ministry of Science and Technology of the People's Republic of China
References (30)
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