Path Planning of an Autonomous Surface Vehicle based on Artificial Potential Fields in a Real Time Marine Environment

Abstract

With growing advances in technology and the everyday dependence on oceans for resources, the role of unmanned marine vehicles has increased many a fold. Extensive operations having naval, civil and scientific applications are being undertaken and demands are being placed on them to increase their flexibility and adaptability. A key factor for such vehicles is the requirement for them to possess a path planning subsystem. Most path planning techniques are implemented in self-simulated environments. This study accounts for use of artificial potential field in path planning of an autonomous surface vehicle (ASV) in a real time marine environment. Path cost, path length and computational time are described to ensure the effectiveness of the motion planning.