Motion planning for unmanned surface vehicle based on a maneuverability mathematical model

To address the issue that the path generated by the conventional path planning methods cannot match the maneuverability of an unmanned surface vehicle (USV), a motion planning approach has been proposed based on the maneuverability mathematical model of the USV (MA* algorithm). This method predicts the USV's motion trajectories using a maneuverability mathematical model of the USV. The state of the search space can be formed in accordance with the positions and directions that the projected trajectories can reach. In conjunction with the improved collision avoidance rules and cost function, the USV can plan a practical motion route that matches its actual maneuverability. The experimental results demonstrate that the path planned by the MA* algorithm not only entirely avoids obstacles, but also meets the maneuverability requirements of USV. This method combines the discrete search space with the hydrodynamic model to assure the continuity of the motion states during path planning for USV.