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首页> 外文期刊>Ocean Engineering >Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment
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Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

机译：实际海上环境中无人水面舰艇编队的路径规划算法

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Unmanned surface vehicles (USVs) have been deployed over the past decade. Current USV platforms are generally of small size with low payload capacity and short endurance times. To improve effectiveness there is a trend to deploy multiple USVs as a formation fleet. This paper presents a novel computer based algorithm that solves the problem of USV formation path planning. The algorithm is based upon the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method. The constrained FM method is able to model the dynamic behaviour of moving ships with efficient computation time. The algorithm has been evaluated using a range of tests applied to a simulated area and has been proved to work effectively in a complex navigation environment. (C) 2015 Elsevier Ltd. All rights reserved.
机译：在过去的十年中，已经部署了无人水面车（USV）。当前的USV平台通常尺寸较小，有效载荷容量低且使用寿命短。为了提高效率，有一种趋势是部署多个USV作为编队。本文提出了一种新颖的基于计算机的算法，解决了USV编队路径规划问题。该算法基于快速行进（FM）方法，并已使用新颖的约束FM方法专门设计用于动态环境中的操作。受约束的FM方法能够以有效的计算时间对运动中船舶的动态行为进行建模。该算法已使用应用于模拟区域的一系列测试进行了评估，并被证明可在复杂的导航环境中有效工作。 （C）2015 Elsevier Ltd.保留所有权利。

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