Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function
ObjectivesCurrently, how to plan the safe and efficient movement trajectory of an unmanned surface vehicle (USV) in local waters with multiple known obstacle positions is a research hotspot.MethodsFirst, the obstacle areas are treated with simple and effective circular and convex quadrilateral envel...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
Editorial Office of Chinese Journal of Ship Research
2021-02-01
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Series: | Zhongguo Jianchuan Yanjiu |
Subjects: | |
Online Access: | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02209 |