Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles

@article{Niu2019VoronoiVisibilityRP,
  title={Voronoi-Visibility Roadmap-based Path Planning Algorithm for Unmanned Surface Vehicles},
  author={Hanlin Niu and Al Savvaris and Antonios Tsourdos and Ze Ji},
  journal={Journal of Navigation},
  year={2019},
  volume={72},
  pages={850 - 874}
}
In this paper, a novel Voronoi-Visibility (VV) path planning algorithm, which integrates the merits of a Voronoi diagram and a Visibility graph, is proposed for solving the Unmanned Surface Vehicle (USV) path planning problem. The VM (Voronoi shortest path refined by Minimising the number of waypoints) algorithm was applied for performance comparison. The VV and VM algorithms were compared in ten Singapore Strait missions and five Croatian missions. To test the computational time, a high… 
View on Cambridge Press
orca.cardiff.ac.uk
12 Citations
Background Citations
3
Methods Citations
1

12 Citations

Citation Type

Citation Type

A Hybrid Path Planning Algorithm for Unmanned Surface Vehicles in Complex Environment With Dynamic Obstacles
TLDR
USV can get a global optimal path and reach the target point in complex environment with dynamic obstacles and ocean currents via the proposed hybrid algorithm, and the comparative simulation is carried out to verify the effectiveness and advantage of the proposed method.
A novel solution with rapid Voronoi-based coverage path planning in irregular environment for robotic mowing systems
TLDR
The performance of the proposed algorithm is compared to several conventional coverage algorithms in terms of time efficiency, coverage, repetition, and robustness with respect to both concave and convex shapes.
Global path planning for autonomous ship: A hybrid approach of Fast Marching Square and velocity obstacles methods
A New Challenge: Path Planning for Autonomous Truck of Open-Pit Mines in The Last Transport Section
TLDR
A path planning method based on a high-precision digital map that incorporates the contact cost between tire and ground to improve the node extension and path smoothing part of the Hybrid A* algorithm and further enhance the algorithm’s capability of avoiding the roughness.
Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods
In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial…
Ship Motion Planning for MASS Based on a Multi-Objective Optimization HA* Algorithm in Complex Navigation Conditions
TLDR
A multi-objective optimization algorithm based on HA* is proposed after considering the constraints of motion and dynamic and optimization objectives, and an efficient, safe and economical path is obtained and is more in line with the needs of practical application.
The Review Unmanned Surface Vehicle Path Planning: Based on Multi-modality Constraint
Model Checking for Decision Making System of Long Endurance Unmanned Surface Vehicle
TLDR
The states and the interactive relations between environmental uncertainties, sensors, USV energy system, USv and Ground Control Station (GCS) decision making systems are abstracted and modelled successfully using Kripke models and the feasibility of applying model checking method to retrospect the desirable property of the USV decision making system is shown.
Resource Scheduling Method for Optimizing the Distribution Path of Fresh Agricultural Products under Low-Carbon Environmental Constraints
Aiming at the development concept of relative dispersion of urban multiregional business centers, saving energy, and emission reduction, this article proposes an algorithm for solving the problem of…
Offshore wind turbine operations and maintenance: A state-of-the-art review
...
1
2
...

References

SHOWING 1-10 OF 39 REFERENCES
Efficient path planning algorithms for Unmanned Surface Vehicle
A voronoi diagram-visibility graph-potential field compound algorithm for robot path planning
TLDR
A new path planning algorithm is presented where these three methods are integrated for the first time in a single architecture and generally yields shorter paths than the Voronoi and potential field methods, and faster than the visibility graph.
Roadmap-Based Path Planning - Using the Voronoi Diagram for a Clearance-Based Shortest Path
TLDR
This article chose the roadmap approach and utilized the Voronoi diagram to obtain a path that is a close approximation of the shortest path satisfying the required clearance value set by the user.
Research Of Unmanned Surface Vessel (USV) Path-Planning Algorithm Based on ArcGIS
TLDR
According to the oars, the rudder and maneuver characteristic of USV, the actual sailing and maneuvering conditions are used to optimize the path of the navigable which is the public area of navigation area(or minor hinders navigation area) and the navigation path set.
A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels☆
A visibility graph based method for path planning in dynamic environments
TLDR
A modified Asano's algorithm is implemented for determining the visibility polygons and visibility graphs and the main advantage of this method is that it can be applied in dynamical environments (environments that change in time).
The visibility-Voronoi complex and its applications
Obstacle Avoidance Approaches for Autonomous Navigation of Unmanned Surface Vehicles
TLDR
In this work, collision detection and path planning methods for USVs are presented and it is concluded that almost all the existing method do not address sea or weather conditions, or do not involve the dynamics of the vessel while defining the path.
Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles
This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle (USV) based on multi-beam forward looking sonar (FLS). Near-optimal paths in static and…
Integration of a visibility graph based path planning method in the ACT/FHS rotorcraft
This work presents recent progress at the German Aerospace Center (DLR) in landing guidance for helicopter approaches to landing sites without prior reconnaissance. During the project ALLFlight, DLRs…
...
1
2
3
4
...