ORCID

Abstract

© 2018 Efficient motion planning of multiple unmanned surface vehicles (USVs) in a dynamic maritime environment is an important requirement for increasing mission efficiency and achieving motion goals. The current study integrates two approaches of intelligent path planning and virtual target path following guidance for multi-agent USV framework to perform a coordinated and cooperative navigation of USVs in a constrained maritime environment. In the current study, a safety distance constrained A* approach produces an optimal, computationally efficient and collision free path which is later smoothed using a spline to provide an optimal trajectory as input for virtual target based multi-agent guidance framework to navigate multiple USVs. The virtual target approach provides a robust methodology of global and local collision avoidance based on known positions of vehicles. The combined approach is evaluated with the different number of USVs and in different environmental scenarios to understand the effectiveness of approach from the perspective of practicality, safety and robustness.

DOI

10.1016/j.ifacol.2018.09.458

Publication Date

2018-09-01

Publication Title

IFAC-PapersOnLine

Volume

51

Issue

29

First Page

378

Last Page

383

ISSN

2405-8963

Embargo Period

2019-01-08

Organisational Unit

School of Engineering, Computing and Mathematics

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