Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function

ObjectivesCurrently, how to plan the safe and efficient movement trajectory of an unmanned surface vehicle (USV) in local waters with multiple known obstacle positions is a research hotspot.MethodsFirst, the obstacle areas are treated with simple and effective circular and convex quadrilateral envel...

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Principais autores:	Qingliang LI, Bin LI, Guohao SUN, Xing CUI, Xintao MAO
Formato:	Artigo
Idioma:	Inglês
Publicado:	Editorial Office of Chinese Journal of Ship Research 2021-02-01
Series:	Zhongguo Jianchuan Yanjiu
Assuntos:	unmanned surface vehicles (usv) trajectory planning optimal control exact penalty function obstacle avoidance
Acceso en liña:	http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02209
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