Back to Search
Start Over
Research on Real-Time Obstacle Avoidance Planning for an Unmanned Surface Vessel based on the Grid Cell Mechanism.
- Source :
-
Journal of Navigation . Nov2020, Vol. 73 Issue 6, p1358-1371. 14p. - Publication Year :
- 2020
-
Abstract
- Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 03734633
- Volume :
- 73
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- Journal of Navigation
- Publication Type :
- Academic Journal
- Accession number :
- 147014904
- Full Text :
- https://doi.org/10.1017/S0373463320000338