Long-Endurance Dynamic Path Planning Method of NSV Considering Wind Energy Capture

To meet the mission requirements of long-endurance and unmanned marine environment observation, the natural energy-driven unmanned surface vehicle (NSV) usually takes special sailing paths to increase energy capture to achieve the purpose of improving endurance. Aiming at the route planning problems of the “Wave Rider” NSV in the time-varying ocean wind field, this paper is organized as follows. Firstly, a visual modeling method of the real-time-varying ocean wind field for NSV is proposed. Then, through the wind energy capture experiment, the NSV system energy net output model is calculated, and a Dynamic Dijkstra algorithm considering wind energy capture (DW–Dijkstra) has been proposed in this paper based on a Dijkstra algorithm, of which weight function has been improved. Accordingly, the NSV long-endurance dynamic path planning method is designed. Finally, the DW–Dijkstra algorithm has been verified through a set of comparison simulations and a set of semi-physical comparison simulations. The results show that the DW–Dijkstra algorithm can plan a collision-free and high-efficiency energy capture path in the real-time-varying ocean wind field environment in the southern waters of China. Compared with the traditional A* algorithm and the Wind_A* algorithm, the proposed method can save energy by between 15.07% and 6.50%, respectively, which effectively increases the endurance of the NSV.