Song, R;
Liu, Y;
Liu, W;
Bucknall, R;
(2015)
A Two-layered Fast Marching Path Planning Algorithm for an Unmanned Surface Vehicle Operating in a Dynamic Environment.
In:
Proceedings of OCEANS 2015.
IEEE: Genova, Italy.
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Abstract
This paper describes a modified fast marching (FM) path planning algorithm for unmanned surface vehicles (USVs). The modified FM algorithm generates a two-layered synthetic vector field to represent a dynamic environment. The synthetic vector field integrates the obstacle information and the environment information, where current and wind velocities vary in both magnitude and direction. The path planning algorithm then employs the anisotropic FM method to calculate a safe trajectory to avoid obstacles and to minimise any negative effects of the environment. The algorithm has been tested in the environment with simulated current. The resulting trajectory shows that the two-layered FM algorithm is able to deal with environmental influence satisfactory.
| Type: | Proceedings paper |
|---|---|
| Title: | A Two-layered Fast Marching Path Planning Algorithm for an Unmanned Surface Vehicle Operating in a Dynamic Environment |
| Event: | OCEANS 2015 |
| Location: | Ctr Congressi Genova, Genova, ITALY |
| Dates: | 18 May 2015 - 21 May 2015 |
| ISBN-13: | 9781479987368 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/OCEANS-Genova.2015.7271405 |
| Publisher version: | http://dx.doi.org/10.1109/OCEANS-Genova.2015.72714... |
| 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: | Marine environment, anisotropic medium, fast marching method, path planning, unmanned surface vehicle. |
| 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 UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Maths and Physical Sciences |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/1534628 |
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