This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Open AccessArticle
Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass Through Narrow Waters
by
Shuo Li
Shuo Li 1,
Fei Teng
Fei Teng 1,*,
Geyang Xiao
Geyang Xiao 2,* and
Haoran Zhao
Haoran Zhao 3
1
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China
2
Research Institute of Intelligent Networks, Zhejiang Lab, Hangzhou 311121, China
3
Navigation College, Dalian Maritime University, Dalian 116026, China
*
Authors to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2024, 12(8), 1246; https://doi.org/10.3390/jmse12081246 (registering DOI)
Submission received: 26 June 2024
/
Revised: 20 July 2024
/
Accepted: 22 July 2024
/
Published: 23 July 2024
Abstract
Safety and efficiency are important when Unmanned Surface Vehicles (USVs) pass through narrow waters in complex marine environments. This paper considers the issue of path planning for USVs passing through narrow waterways. We propose a distributed optimization algorithm based on a polymorphic network architecture, which maintains connectivity and avoids collisions between USVs while planning optimal paths. Firstly, the initial path through the narrow waterway is planned for each USV using the narrow water standard route method, and then the interpolating spline method is used to determine its corresponding functional form and rewrite the function as a local cost function for the USV. Secondly, a polymorphic network architecture and a distributed optimization algorithm were designed for multi-USVs to maintain connectivity and avoid collisions between USVs, and to optimize the initial paths of the multi-USV system. The effectiveness of the algorithm is demonstrated by Lyapunov stability analysis. Finally, Lingshui Harbor of Dalian Maritime University and a curved narrow waterway were selected for the simulation experiments, and the results demonstrate that the paths planned by multiple USVs were optimal and collision-free, with velocities achieving consistency within a finite time.
Share and Cite
MDPI and ACS Style
Li, S.; Teng, F.; Xiao, G.; Zhao, H.
Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass Through Narrow Waters. J. Mar. Sci. Eng. 2024, 12, 1246.
https://doi.org/10.3390/jmse12081246
AMA Style
Li S, Teng F, Xiao G, Zhao H.
Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass Through Narrow Waters. Journal of Marine Science and Engineering. 2024; 12(8):1246.
https://doi.org/10.3390/jmse12081246
Chicago/Turabian Style
Li, Shuo, Fei Teng, Geyang Xiao, and Haoran Zhao.
2024. "Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass Through Narrow Waters" Journal of Marine Science and Engineering 12, no. 8: 1246.
https://doi.org/10.3390/jmse12081246
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details
here.
Article Metrics
Article Access Statistics
For more information on the journal statistics, click
here.
Multiple requests from the same IP address are counted as one view.