A multi-layered potential field method for waterjet propelled unmanned surface vehicle local path planning with minimum energy consumption

• Autorzy: Wang Shasha , Fu Mingyu , Wang Yuanhui , Zhao Liangbo

Identyfikatory

DOI

10.2478/pomr-2019-0015

• Języki publikacji: EN

Abstrakty

EN

Focusing on the influence of wind and surface currents on local path planning in the marine environment, a multilayered potential field (MPF) method is proposed to minimize the energy consumption of a water-jet propelled unmanned surface vehicle (USV). A synthetic environment framework that can incorporate the information of the base potential field layer and the environment layer is constructed first. This framework provides a base for minimizing the energy consumption of the water-jet propelled USV through proper force weighting. For the purpose of USV path planning, the traditional potential field method is extended by including the velocity information of the USV and the approached obstacles to avoid collisions with dynamic obstacles. The proposed method integrates kinematic control to prevent considering the vehicle as a point mass or rigid body. Finally, simulation and comparison experiments are performed to demonstrate the energy-saving efficiency of the proposed local path planning approach for the water-jet propelled USV.

Słowa kluczowe

EN

water-jet propelled USV; local path planning; marine environment; minimum energy consumption; multi-layered potential field method

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2019
• Tom: nr 1
• Strony: 134--144
• Opis fizyczny: Bibliogr. 26 poz., rys., tab.

Twórcy

autor

Wang Shasha

• Harbin Engineering University No.145 Nantong Street, Nangang District 15001 Harbin China

autor

Fu Mingyu

• Harbin Engineering University No.145 Nantong Street, Nangang District 15001 Harbin China

autor

Wang Yuanhui

• Harbin Engineering University No.145 Nantong Street, Nangang District 15001 Harbin China

autor

Zhao Liangbo

• Harbin Engineering University No.145 Nantong Street, Nangang District 15001 Harbin China

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).