Unmanned surface vehicle local path planning based on marine radar

作者：Zhuang, Jia Yuan; Su, Yu Min; Liao, Yu Lei; Sun, Han Bing^*

来源：Journal of Shanghai Jiaotong University, 2012, 46(9): 1371-1375+1381.

• Adaptive thresholds
• Dijkstra algorithms
• Edge-preserving smoothing
• Election algorithms
• Local path-planning
• Mathematic model
• Optimal paths
• Path planning method

To solve the local path planning problem of unmanned surface vehicle (USV), this paper designed a path planning method based on marine radar image processing. An image's edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake, with an optimal path identified in a short time that could satisfy the experimental need.

• 出版日期2012
• 单位哈尔滨工程大学