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Efficient trajectory generation in complex dynamic environments remains anopen problem in the unmanned surface vehicle (USV). The perception of the USVis usually interfered with by the swing of the hull and the ambient weather,making it challenging to plan the optimal USV trajectories. In this paper, acooperative trajectory planning algorithm for the coupled USV-UAV system isproposed to ensure that USV can execute a safe and smooth path in the processof autonomous advance in multi-obstacle maps. Specifically, the unmanned aerialvehicle (UAV) plays the role of a flight sensor, providing real-time global mapand obstacle information with a lightweight semantic segmentation network and3D projection transformation. And then, an initial obstacle avoidancetrajectory is generated by a graph-based search method. Concerning the uniqueunder-actuated kinematic characteristics of the USV, a numerical optimizationmethod based on hull dynamic constraints is introduced to make the trajectoryeasier to be tracked for motion control. Finally, a motion control method basedon NMPC with the lowest energy consumption constraint during execution isproposed. Experimental results verify the effectiveness of the whole system,and the generated trajectory is locally optimal for USV with considerabletracking accuracy.

Cooperative trajectory planning algorithm of USV-UAV with hull dynamic constraints