Track planning and design of autonomous obstacle avoidance for unmanned ships in complex environments

Bei-lei Shi; Xiu-Shan Zhang

doi:10.1117/12.2671812

16 March 2023 Track planning and design of autonomous obstacle avoidance for unmanned ships in complex environments

Bei-lei Shi, Xiu-Shan Zhang

Proceedings Volume 12593, Second Guangdong-Hong Kong-Macao Greater Bay Area Artificial Intelligence and Big Data Forum (AIBDF 2022); 125930Y (2023) https://doi.org/10.1117/12.2671812
Event: 2nd Guangdong-Hong Kong-Macao Greater Bay Area Artificial Intelligence and Big Data Forum (AIBDF 2022), 2022, Guangzhou, China

Abstract

Route planning is an essential and important part of unmanned aerial vehicle (UAV) operations at sea. Therefore, this paper designs the trajectory planning for autonomous obstacle avoidance of unmanned ships in complex environments. Adopt the body coordinate system and inertial coordinate system to confirm the coordinates and heading angle of the unmanned ship; improve the inertia weight, determine the space constraints of the track planning, and accurately determine the autonomous obstacle avoidance path of the unmanned ship. Simulation experiments show that the trajectory planning method for autonomous obstacle avoidance of unmanned ships in complex environments designed in this paper reduces the time consumption of navigation, has stronger real-time performance, and can approximately represent the global optimal trajectory.

Citation Download Citation

Bei-lei Shi and Xiu-Shan Zhang "Track planning and design of autonomous obstacle avoidance for unmanned ships in complex environments", Proc. SPIE 12593, Second Guangdong-Hong Kong-Macao Greater Bay Area Artificial Intelligence and Big Data Forum (AIBDF 2022), 125930Y (16 March 2023); https://doi.org/10.1117/12.2671812

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