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Radar-based path planning of autonomous surface vehicle with static and dynamic obstacles in a Frenet Frame

Published online by Cambridge University Press:  04 March 2024

Zhihuan Hu ,
Ziheng Yang ,
Xiaocheng Liu  and
Weidong Zhang
Zhihuan Hu
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China
Ziheng Yang
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China
Xiaocheng Liu
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China
Weidong Zhang*
Affiliation:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China
*
Corresponding author: Weidong Zhang; Email: wdzhang@sjtu.edu.cn
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Abstract

Navigation safety at sea is vital for each autonomous surface vehicle (ASV), which involves the problem of motion planning in dynamic environments and their robust tracking through feedback control. We present a practical path-planning method that generates smooth trajectories for a marine vehicle traveling in an unknown environment, where obstacles are detected in real time by millimetre wave (mmWave) radar. Our approach introduces a polynomial curve to describe the lateral and longitudinal trajectories in the Frenet frame, known as the ‘motion primitives’, whose combination ensures that the planning area is properly covered. In addition, we can select a feasible, optimal and collision-free trajectory from such a set of motion primitives that is generated by considering the vehicle dynamics and comfort. The capabilities of proposed algorithm are demonstrated in the experiment with static and dynamic obstacles.

Keywords

path planningautonomous surface vehiclecollision avoidancemillimetre wave radar
Type
Research Article
Information
The Journal of Navigation , Volume 76 , Issue 4-5 , July 2023 , pp. 487 - 505
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Copyright
Copyright © The Author(s), 2024. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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