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Energy efficient path planning for a marine surface vehicle considering heading angle

机译：考虑航向角的海上水面车辆的节能路径规划

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Ocean environmental effects such as current, wind, water depth, and wave effects on a surface vehicle should be considered when planning the path of a marine surface vehicle, even though their complexity makes computation in a short time challenging. Moreover, the mechanical handling devices such as cranes installed on the deck floor of a surface vehicle can also severely confine a vehicle's heading angle at the goal point, especially in a docking or loading/unloading situation. This paper proposes the EEA* algorithm, a deterministic and energy-based 3-dimensional (3-D: x,y, and theta) path planning method for a marine surface vehicle on a 2-dimensional (2-D: x, y) surface plane that considers ocean environmental effects and the heading angle. The proposed path planner uses a realistic energy cost considering the loads on a vehicle due to tidal current and limited water-depth based on a given ship geometry. It also considers the vehicle's turning ability, thus generating more feasible way-points for real travel while satisfying heading angle constraints. By considering both effects in the path planning step, a more energy-efficient and maneuverable path can be found. Resultant paths and their costs are compared through various simulations in different environmental conditions with those of a classical distance-based A* algorithm, the DA* algorithm which is widely used in most applications. (C) 2015 Elsevier Ltd. All rights reserved.
机译：规划海洋水上航行器的航路时，应考虑海洋环境影响，例如洋流，风，水深和波浪对水上航行器的影响，尽管其复杂性使短时间内的计算具有挑战性。此外，安装在地面车辆甲板上的诸如起重机之类的机械装卸装置也可以严重限制车辆在目标点的行进角度，特别是在停靠或装卸情况下。本文提出了EEA *算法，这是一种基于确定性且基于能量的3维（3-D：x，y和theta）路径规划方法，适用于二维（2-D：x，y）上的海上水面航行器）考虑海洋环境影响和航向角的水平面。拟议的路径规划器使用现实的能源成本，考虑了基于给定船舶几何形状的潮流和有限水深所导致的车辆负载。它还考虑了车辆的转向能力，从而在满足航向角约束的同时为实际行驶生成了更多可行的航路点。通过在路径规划步骤中同时考虑这两种效果，可以找到一条更节能和可操作的路径。通过在不同环境条件下的各种模拟，将结果路径及其成本与经典的基于距离的A *算法（在大多数应用中广泛使用的DA *算法）进行比较。 （C）2015 Elsevier Ltd.保留所有权利。

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