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Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors
The aim of local path planning for unmanned surface vehicles (USVs) is to avoid unknown dynamic or static obstacles. However, current relative studies have not fully considered the impact of ocean environmental factors which significantly increase the control difficulty and collision risk of USVs. T...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9321648/ https://www.ncbi.nlm.nih.gov/pubmed/35890861 http://dx.doi.org/10.3390/s22145181 |
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author | Wang, Zhenyu Liang, Yan Gong, Changwei Zhou, Yichang Zeng, Cen Zhu, Songli |
author_facet | Wang, Zhenyu Liang, Yan Gong, Changwei Zhou, Yichang Zeng, Cen Zhu, Songli |
author_sort | Wang, Zhenyu |
collection | PubMed |
description | The aim of local path planning for unmanned surface vehicles (USVs) is to avoid unknown dynamic or static obstacles. However, current relative studies have not fully considered the impact of ocean environmental factors which significantly increase the control difficulty and collision risk of USVs. Therefore, this work studies two ocean environmental factors, namely, wave and current, given that they both have a significant impact on USVs. Furthermore, we redesign a kinematic model of an USV and the evaluation function of a classical and practical local path planning method based on the dynamic window approach (DWA). As shown by the results of the simulations, the path length was impacted mainly by the intensity of the environmental load and slightly by the direction of the environmental load, but the navigation time was significantly influenced by both. Taking the situation in still water as a benchmark in terms of the intensity and direction of the environmental factors, the maximum change rates of the path length were 8.6% and 0.6%, respectively, but the maximum change rates of the navigating time were 17.9% and 25.6%, separately. In addition, the average calculation time of each cycle was only 0.0418 s, and the longest time did not exceed the simulation time corresponding to a single cycle of 0.1 s. This method has proven to be a good candidate for real-time local path planning of USVs since it systematically considers the impact of waves and currents on the navigation of USVs, and thus ensures that USVs can adjust to the planned path in time and avoid obstacles when navigating in the real ocean environment. |
format | Online Article Text |
id | pubmed-9321648 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-93216482022-07-27 Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors Wang, Zhenyu Liang, Yan Gong, Changwei Zhou, Yichang Zeng, Cen Zhu, Songli Sensors (Basel) Article The aim of local path planning for unmanned surface vehicles (USVs) is to avoid unknown dynamic or static obstacles. However, current relative studies have not fully considered the impact of ocean environmental factors which significantly increase the control difficulty and collision risk of USVs. Therefore, this work studies two ocean environmental factors, namely, wave and current, given that they both have a significant impact on USVs. Furthermore, we redesign a kinematic model of an USV and the evaluation function of a classical and practical local path planning method based on the dynamic window approach (DWA). As shown by the results of the simulations, the path length was impacted mainly by the intensity of the environmental load and slightly by the direction of the environmental load, but the navigation time was significantly influenced by both. Taking the situation in still water as a benchmark in terms of the intensity and direction of the environmental factors, the maximum change rates of the path length were 8.6% and 0.6%, respectively, but the maximum change rates of the navigating time were 17.9% and 25.6%, separately. In addition, the average calculation time of each cycle was only 0.0418 s, and the longest time did not exceed the simulation time corresponding to a single cycle of 0.1 s. This method has proven to be a good candidate for real-time local path planning of USVs since it systematically considers the impact of waves and currents on the navigation of USVs, and thus ensures that USVs can adjust to the planned path in time and avoid obstacles when navigating in the real ocean environment. MDPI 2022-07-11 /pmc/articles/PMC9321648/ /pubmed/35890861 http://dx.doi.org/10.3390/s22145181 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Wang, Zhenyu Liang, Yan Gong, Changwei Zhou, Yichang Zeng, Cen Zhu, Songli Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title | Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title_full | Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title_fullStr | Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title_full_unstemmed | Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title_short | Improved Dynamic Window Approach for Unmanned Surface Vehicles’ Local Path Planning Considering the Impact of Environmental Factors |
title_sort | improved dynamic window approach for unmanned surface vehicles’ local path planning considering the impact of environmental factors |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9321648/ https://www.ncbi.nlm.nih.gov/pubmed/35890861 http://dx.doi.org/10.3390/s22145181 |
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