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A platform for research: civil engineering, architecture and urbanism
Multi-scale theta* algorithm for the path planning of unmanned surface vehicle
https://orcid.org/0000-0001-8723-7040
Theta* algorithm is a searching-based path planning algorithm that gives an optimal path with more flexibility on route angle than A* method. The dynamics of USV is characterized by large inertia, so that larger turning angle is preferred. In view of the shortcomings of traditional Theta* algorithm, such as being hard to balance overall situation and details in long-distance planning, and lacking of waypoint replacement scheme when a waypoint is unreachable, it is inappropriate to make long-distance planning through Theta* algorithm directly. In order to ensure safe navigation for unmanned surface vehicle (USV), this paper proposes a multi-scale Theta* algorithm to solve these defects. Simulation result manifests the proposed scheme can provide a path clear of obstacles with several fold reduction in time consumption. The proposed planning method simplifies path planning process and contributes to the development of marine transportation.
Multi-scale theta* algorithm for the path planning of unmanned surface vehicle
https://orcid.org/0000-0001-8723-7040
Theta* algorithm is a searching-based path planning algorithm that gives an optimal path with more flexibility on route angle than A* method. The dynamics of USV is characterized by large inertia, so that larger turning angle is preferred. In view of the shortcomings of traditional Theta* algorithm, such as being hard to balance overall situation and details in long-distance planning, and lacking of waypoint replacement scheme when a waypoint is unreachable, it is inappropriate to make long-distance planning through Theta* algorithm directly. In order to ensure safe navigation for unmanned surface vehicle (USV), this paper proposes a multi-scale Theta* algorithm to solve these defects. Simulation result manifests the proposed scheme can provide a path clear of obstacles with several fold reduction in time consumption. The proposed planning method simplifies path planning process and contributes to the development of marine transportation.
Multi-scale theta* algorithm for the path planning of unmanned surface vehicle
https://orcid.org/0000-0001-8723-7040
Theta* algorithm is a searching-based path planning algorithm that gives an optimal path with more flexibility on route angle than A* method. The dynamics of USV is characterized by large inertia, so that larger turning angle is preferred. In view of the shortcomings of traditional Theta* algorithm, such as being hard to balance overall situation and details in long-distance planning, and lacking of waypoint replacement scheme when a waypoint is unreachable, it is inappropriate to make long-distance planning through Theta* algorithm directly. In order to ensure safe navigation for unmanned surface vehicle (USV), this paper proposes a multi-scale Theta* algorithm to solve these defects. Simulation result manifests the proposed scheme can provide a path clear of obstacles with several fold reduction in time consumption. The proposed planning method simplifies path planning process and contributes to the development of marine transportation.
Multi-scale theta* algorithm for the path planning of unmanned surface vehicle
Han, Xu (author) / Zhang, Xianku (author)
2022-05-01
9 pages
Article (Journal)
Electronic Resource
English
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