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Research on Real-Time Obstacle Avoidance Planning for an Unmanned Surface Vessel based on the Grid Cell Mechanism

Published online by Cambridge University Press:  03 July 2020

Yun Li Open the ORCID record for Yun Li [Opens in a new window]  and
Jian Zheng
Yun Li
Affiliation:
(Merchant Marine College, Shanghai Maritime University, 201306Shanghai, China)
Jian Zheng*
Affiliation:
(Transport and Communications College, Shanghai Maritime University, 201306Shanghai, China)
*
(E-mail: [email protected])
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Abstract

Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm.

Keywords

Real-Time Obstacle AvoidanceGrid CellGoal-OrientedUnmanned Surface Vessel
Type
Research Article
Information
The Journal of Navigation , Volume 73 , Issue 6 , November 2020 , pp. 1358 - 1371
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Copyright
Copyright © The Royal Institute of Navigation 2020

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