<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Focusing on the influence of wind and surface currents on local path planning in the marine environment, a multilayered potential field (MPF) method is proposed to minimize the energy consumption of a water-jet propelled unmanned surface vehicle (USV). A synthetic environment framework that can incorporate the information of the base potential field layer and the environment layer is constructed first. This framework provides a base for minimizing the energy consumption of the water-jet propelled USV through proper force weighting. For the purpose of USV path planning, the traditional potential field method is extended by including the velocity information of the USV and the approached obstacles to avoid collisions with dynamic obstacles. The proposed method integrates kinematic control to prevent considering the vehicle as a point mass or rigid body. Finally, simulation and comparison experiments are performed to demonstrate the energy-saving efficiency of the proposed local path planning approach for the water-jet propelled USV.</p></abstract>

Focusing on the influence of wind and surface currents on local path planning in the marine environment, a multilayered potential field (MPF) method is proposed to minimize the energy consumption of a water-jet propelled unmanned surface vehicle (USV). A synthetic environment framework that can incorporate the information of the base potential field layer and the environment layer is constructed first. This framework provides a base for minimizing the energy consumption of the water-jet propelled USV through proper force weighting. For the purpose of USV path planning, the traditional potential field method is extended by including the velocity information of the USV and the approached obstacles to avoid collisions with dynamic obstacles. The proposed method integrates kinematic control to prevent considering the vehicle as a point mass or rigid body. Finally, simulation and comparison experiments are performed to demonstrate the energy-saving efficiency of the proposed local path planning approach for the water-jet propelled USV.

A Multi-Layered Potential Field Method for Water-Jet Propelled Unmanned Surface Vehicle Local Path Planning with Minimum Energy Consumption

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Focusing on the influence of wind and surface currents on local path planning in the marine environment, a multilayered potential field (MPF) method is...

A Multi-Layered Potential Field Method for Water-Jet Propelled Unmanned Surface Vehicle Local Path Planning with Minimum Energy Consumption

Published Online: Apr 15, 2019

Page range: 134 - 144

DOI: https://doi.org/10.2478/pomr-2019-0015

Keywords
water-jet propelled USV, local path planning, marine environment, minimum energy consumption, multi-layered potential field method

© 2019 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A Multi-Layered Potential Field Method for Water-Jet Propelled Unmanned Surface Vehicle Local Path Planning with Minimum Energy Consumption

Published Online: Apr 15, 2019

Page range: 134 - 144

DOI: https://doi.org/10.2478/pomr-2019-0015

Keywordswater-jet propelled USV, local path planning, marine environment, minimum energy consumption, multi-layered potential field method

© 2019 Shasha Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
water-jet propelled USV, local path planning, marine environment, minimum energy consumption, multi-layered potential field method