Distributed Optimization-Based Path Planning for Multiple Unmanned Surface Vehicles to Pass through Narrow Waters

被引:0
作者
Li, Shuo [1 ]
Teng, Fei [1 ]
Xiao, Geyang [2 ]
Zhao, Haoran [3 ]
机构
[1] Dalian Maritime Univ, Marine Elect Engn Coll, Dalian 116026, Peoples R China
[2] Zhejiang Lab, Res Inst Intelligent Networks, Hangzhou 311121, Peoples R China
[3] Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China
基金
中国国家自然科学基金;
关键词
multi-unmanned surface vehicle system; path planning; distributed optimization algorithm; polymorphic network;
D O I
10.3390/jmse12081246
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
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.
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页数:19
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