Obstacle Avoidance Approaches for Autonomous Navigation of Unmanned Surface Vehicles

  title={Obstacle Avoidance Approaches for Autonomous Navigation of Unmanned Surface Vehicles},
  author={Riccardo Polvara and Sanjay K. Sharma and Jian Wan and Andrew Manning and Robert Sutton},
  journal={Journal of Navigation},
  pages={241 - 256}
The adoption of a robust collision avoidance module is required to realise fully autonomous Unmanned Surface Vehicles (USVs). In this work, collision detection and path planning methods for USVs are presented. Attention is focused on the difference between local and global path planners, describing the most common techniques derived from classical graph search theory. In addition, a dedicated section is reserved for intelligent methods, such as artificial neural networks and evolutionary… 

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