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, Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Yan, Xinping
Wang, Yulong
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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
Wang, Yulong
Li, Zhixiong
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机构:
Ocean Univ China, Sch Engn, Qingdao 266110, Peoples R China
Yonsei Univ, Yonsei Frontier Lab, 50 Yonsei Ro, Seoul 03722, South KoreaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Qian, Guohu
Zheng, Xiang
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Zheng, Xiang
Wang, Jianhua
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Wang, Jianhua
Xie, Zhigang
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Xie, Zhigang
Wu, Qiwen
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Wu, Qiwen
Xu, Wei
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
机构:
Wuhan Univ Technol, Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R ChinaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
Yan, Xinping
Wang, Yulong
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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
Wang, Yulong
Li, Zhixiong
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h-index: 0
机构:
Ocean Univ China, Sch Engn, Qingdao 266110, Peoples R China
Yonsei Univ, Yonsei Frontier Lab, 50 Yonsei Ro, Seoul 03722, South KoreaWuhan Univ Technol, Sch Nav, Wuhan 430063, Hubei, Peoples R China
机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Qian, Guohu
Zheng, Xiang
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机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Zheng, Xiang
Wang, Jianhua
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机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Wang, Jianhua
Xie, Zhigang
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机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Xie, Zhigang
Wu, Qiwen
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机构:
Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China
Wu, Qiwen
Xu, Wei
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Shanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R ChinaShanghai Maritime Univ, Kay Lab Transport Ind Marine Technol & Control Eng, Shanghai 201306, Peoples R China