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… 
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