Research Article
Path Planning Method for Unmanned Surface Vehicle Based on RRT* and DWA
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@INPROCEEDINGS{10.1007/978-3-030-82562-1_51, author={Xiaotian Zhang and Xiyuan Chen}, title={Path Planning Method for Unmanned Surface Vehicle Based on RRT* and DWA}, proceedings={Multimedia Technology and Enhanced Learning. Third EAI International Conference, ICMTEL 2021, Virtual Event, April 8--9, 2021, Proceedings, Part I}, proceedings_a={ICMTEL}, year={2021}, month={7}, keywords={USV Path planning RRT* DWA Dynamic obstacle avoidance}, doi={10.1007/978-3-030-82562-1_51} }- Xiaotian Zhang
Xiyuan Chen
Year: 2021
Path Planning Method for Unmanned Surface Vehicle Based on RRT* and DWA
ICMTEL
Springer
DOI: 10.1007/978-3-030-82562-1_51
Abstract
Based on the optimized rapidly-exploring random tree (RRT) and dynamic window approach (DWA), this paper proposes a method for path planning of unmanned surface vehicle. By inputting the global path generated by RRT to the local path planner through soft constraints, and combining the obstacle information received by the sensor when the USV is working, the improved DWA is used to obtain a route that can be operated by the USV. The simulation results verify it can effectively avoid dynamic obstacles, ensure the safe navigation of USV in complex environments, and can meet real-time requirements.
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