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Aiming at an obstacle avoidance problem with dynamic constraints for UnmannedSurface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) isproposed. Firstly, the ship model and standardization rules are constructed todevelop and constrain the trajectory, respectively. Secondly, by analyzing theproperties of the circle grid, the circle grid tree is produced to guide themotion of the USV. Then, the kinematics and dynamics of the USV are consideredthrough the on-line trajectory generator by designing a relational functionthat links the rudder angle, heading angle, and the central angle of the circlegrid. Finally, obstacle avoidance is achieved by leveraging the on-linetrajectory generator to choose a safe, smooth, and efficient path for the USV.The experimental results indicate that the proposed method can avoid bothstatic and dynamic obstacles, have better performance in terms of distance costand steering cost comparing with the related methods, and our method only takes50% steering cost of the grid-based method; the collision avoidance path notonly conforms to the USV dynamic characteristic but also provides a referenceof steering command.

A Circle Grid-based Approach for Obstacle Avoidance Motion Planning of Unmanned Surface Vehicles