Zhao, L;
Bai, Y;
Paik, JK;
(2023)
Global-local hierarchical path planning scheme for unmanned surface vehicles under dynamically unforeseen environments.
Ocean Engineering
, 280
, Article 114750. 10.1016/j.oceaneng.2023.114750.
Preview |
Text
Paik_Manuscript-submission.pdf - Accepted Version Download (4MB) | Preview |
Abstract
Unmanned surface vehicles (USVs) should be allowed to respond to dynamic ocean environments and self-adjust their paths safely and efficiently. In this paper, considering the challenges posed by time-varying, partially unknown complex environments, a novel hierarchical motion planning framework is elaborately designed for a USV, which includes a global trajectory optimization and a local reactive collision avoidance strategy. By encapsulating the intricate nature of ocean environment, a global optimization path planning problem is developed to systematically strengthen the model's adaptability to the complex engineering problem. Incorporating adaptive elite selection and fuzzy probability set, an adaptive-elite GA with fuzzy inference (AEGAfi) is devised to fully exploit the underlying optimization problem, providing high-quality global paths. By applying virtual sensory vector onto the USV's sensing module, the COLREG-compliant local-reaction is achieved by governing feasible actions of USVs under dynamically unforeseen environments. Seamlessly bridged by the transition Clothoid path, the linkage between global optimization and dynamic-avoidance is strengthened by softening the replanning time restriction and maintaining path continuity. Eventually, the motion planning framework merits autonomous global-planning and local-reaction in an organically modular manner. Comprehensive simulations and comparisons in various ocean scenarios demonstrate the effectiveness and superiority of the proposed framework.
| Type: | Article |
|---|---|
| Title: | Global-local hierarchical path planning scheme for unmanned surface vehicles under dynamically unforeseen environments |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.oceaneng.2023.114750 |
| Publisher version: | https://doi.org/10.1016/j.oceaneng.2023.114750 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Unmanned surface vehicle, Path planning, Fuzzy logic, Optimization, Collision avoidance, USV |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10172347 |
Archive Staff Only
 |
View Item |
