Wang, A.; Li, L.; Wang, H.; Han, B.; Peng, Z. Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments. J. Mar. Sci. Eng.2024, 12, 298.
Wang, A.; Li, L.; Wang, H.; Han, B.; Peng, Z. Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments. J. Mar. Sci. Eng. 2024, 12, 298.
Wang, A.; Li, L.; Wang, H.; Han, B.; Peng, Z. Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments. J. Mar. Sci. Eng.2024, 12, 298.
Wang, A.; Li, L.; Wang, H.; Han, B.; Peng, Z. Distributed Swarm Trajectory Planning for Autonomous Surface Vehicles in Complex Sea Environments. J. Mar. Sci. Eng. 2024, 12, 298.
Abstract
In this paper, a swarm trajectory planning method is proposed for multiple autonomous surface vehicles (ASVs) in an unknown and obstacle-rich environment. Specifically, based on the point cloud information of the surrounding environment obtained from local sensors, a kinodynamic path searching method is used to generate a series of waypoints in the discretized control space at first. Next, after fitting B-spline curves to the obtained waypoints, a nonlinear optimization problem is formulated to optimize the B-spline curves based on gradient-based local planning. Finally, a numerical optimization method is used to solve the optimization problems in real-time to obtain collision-free, smooth and dynamically feasible trajectories relying on a shared network. Simulation results demonstrate the effectiveness and efficiency of the proposed swarm trajectory planning method for a network of ASVs.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
