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There has been an increasing interest in the development of unmanned surface vehicles (USVs) in recent decades. As USVs are required to carry out complex missions without any human intervention in various environments, an intelligent path planning algorithm is critical. A path planning algorithm is able to utilise environment data to calculate an optimal trajectory to guarantee safety. To achieve...
This paper describes a modified fast marching (FM) path planning algorithm for unmanned surface vehicles (USVs). The modified FM algorithm generates a two-layered synthetic vector field to represent a dynamic environment. The synthetic vector field integrates the obstacle information and the environment information, where current and wind velocities vary in both magnitude and direction. The path planning...
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