Open AccessRapid global path planning algorithm for unmanned surface vehicles in large-scale and multi-island marine environments
Author(s) -
Dong Wang,
Jie Zhang,
Jiucai Jin,
Deqing Liu,
Xingpeng Mao
Publication year - 2021
Publication title -
peerj. computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.806
H-Index - 24
ISSN - 2376-5992
DOI - 10.7717/peerj-cs.612
Subject(s) - motion planning , path (computing) , grid , fast marching method , computer science , any angle path planning , scale (ratio) , grid method multiplication , grid reference , algorithm , process (computing) , obstacle , path length , constraint (computer aided design) , occupancy grid mapping , mathematical optimization , artificial intelligence , mathematics , geography , mobile robot , cartography , geometry , computer network , archaeology , robot , programming language , operating system
A global path planning algorithm for unmanned surface vehicles (USVs) with short time requirements in large-scale and complex multi-island marine environments is proposed. The fast marching method-based path planning for USVs is performed on grid maps, resulting in a decrease in computer efficiency for larger maps. This can be mitigated by improving the algorithm process. In the proposed algorithm, path planning is performed twice in maps with different spatial resolution (SR) grids. The first path planning is performed in a low SR grid map to determine effective regions, and the second is executed in a high SR grid map to rapidly acquire the final high precision global path. In each path planning process, a modified inshore-distance-constraint fast marching square (IDC-FM 2 ) method is applied. Based on this method, the path portions around an obstacle can be constrained within a region determined by two inshore-distance parameters. The path planning results show that the proposed algorithm can generate smooth and safe global paths wherein the portions that bypass obstacles can be flexibly modified. Compared with the path planning based on the IDC-FM 2 method applied to a single grid map, this algorithm can significantly improve the calculation efficiency while maintaining the precision of the planned path.