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… 
Dynamic Energy-Efficient Path Planning of Unmanned Surface Vehicle under Time-Varying Current and Wind
TLDR
A new path optimization algorithm to reduce the waypoints and smooth the path, which considers the distance, ensures a shorter range, and improves the endurance of the USV, which is in line with the actual navigation requirement.
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.
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.
A Hybrid Path Planning and Formation Control Strategy of Multi-Robots in a Dynamic Environment
TLDR
A leader-follower formation control algorithm that contains global path planning and local path planning of the leader and the followers are controlled to track their corresponding virtual robots which are generated according to the leader’s position and the formation.
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.
...
...

References

SHOWING 1-10 OF 38 REFERENCES
Efficient path planning algorithms for Unmanned Surface Vehicle
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 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).
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
A new roadmap approach to automatic path planning for mobile robot navigation
TLDR
A new road map approach to find a collision-free path for an AGV (automatic guided vehicle), taking into account the smoothness, length and available space restrictions.
...
...