Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel

Authors

Dalei Song, 1.College of Engineering, Ocean University of China, Qingdao 266100, China;2.Institute for Advanced Ocean Study, Ocean University of China, Qingdao 266100, China;Follow
Wenhao Gan, 1.College of Engineering, Ocean University of China, Qingdao 266100, China;
Yingzhi Xu, 3.College of Information Science Engineering, Ocean University of China, Qingdao 266100, China;
Xiuqing Qu, 1.College of Engineering, Ocean University of China, Qingdao 266100, China;
Jiangli Cao, 4.709th Research Institute, China Shipbuilding Industry Corporation, Wuhan 430205, China;Follow

Abstract

Abstract: Safety and collision-free navigation are the basis of normal navigation of an unmanned surface vessel. The high-fidelity virtual ocean is constructed by using Unity3D.On the basis of the vessel modeling, a real-time path planning and formation control method for unknown complex environments is proposed. Firstly, the local environment information is obtained by the laser sensor. Then the real-time local path planning is completed by combining A-star and route-thinning methods under the replanning strategy. In addition, formation control is carried out based on the leader-follower strategy and consistency method, and the artificial potential field is used to complete the navigation task of the unmanned surface vessel in terms ofobstacle avoidance. The simulation experiments on various complex scenarios show that the system has excellent authenticity and visual effects and provides an effective means for simulating vessel navigation. At the same time, based on the proposed algorithm, the vessel fleet can arrive at the preset waypoints successively and independently change the formation to avoid obstacles in real-time, which has certain theoretical significance and practicability in engineering applications.

Recommended Citation

Song, Dalei; Gan, Wenhao; Xu, Yingzhi; Qu, Xiuqing; and Cao, Jiangli (2023) "Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel," Journal of System Simulation: Vol. 35: Iss. 5, Article 5.
DOI: 10.16182/j.issn1004731x.joss.22-0002
Available at: https://dc-china-simulation.researchcommons.org/journal/vol35/iss5/5

First Page

957

Revised Date

2022-02-10

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.22-0002

Last Page

970

CLC

TP24

Recommended Citation

Dalei Song, Wenhao Gan, Yingzhi Xu, Xiuqing Qu, Jiangli Cao. Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel[J]. Journal of System Simulation, 2023, 35(5): 957-970.

Corresponding Author

Jiangli Cao,jlcao_wh@163.com

DOI

10.16182/j.issn1004731x.joss.22-0002