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.
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Du, Zhe
Wen, Yuanqiao
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Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Hubei, Peoples R China
Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Wen, Yuanqiao
Xiao, Changshi
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Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Hubei, Peoples R China
Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Xiao, Changshi
Zhang, Fan
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Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Zhang, Fan
Huang, Liang
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Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Huang, Liang
Zhou, Chunhui
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Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Du, Zhe
Wen, Yuanqiao
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h-index: 0
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Hubei, Peoples R China
Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Wen, Yuanqiao
Xiao, Changshi
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h-index: 0
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Hubei, Peoples R China
Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Xiao, Changshi
Zhang, Fan
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h-index: 0
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Zhang, Fan
Huang, Liang
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h-index: 0
机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Huang, Liang
Zhou, Chunhui
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机构:
Wuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China