Unmanned surface vehicles path planning based on improved PRM algorithm

Hongwei Bian; Weifeng Li; Mingzhe Qi; Shicai Chen

doi:10.1117/12.3024046

14 February 2024 Unmanned surface vehicles path planning based on improved PRM algorithm

Hongwei Bian, Weifeng Li, Mingzhe Qi, Shicai Chen

Proceedings Volume 13018, International Conference on Smart Transportation and City Engineering (STCE 2023); 1301811 (2024) https://doi.org/10.1117/12.3024046
Event: International Conference on Smart Transportation and City Engineering (STCE 2023), 2023, Chongqing, China

Abstract

Unmanned Surface Vehicles(USV) path planning has important application value in the field of autonomous navigation. In order to plan a path with simple calculation, less time consumption and low complexity, an improved Probabilistic Roadmap(PRM) algorithm based on USV path planning is proposed. The randomly generated sampling points in the traditional PRM algorithm results in high computational complexity and insufficient flexibility and smoothness in the planned path. In order to optimize the generation strategy of sampling points and improve the smoothness of the path, the boundary box analysis technology and Catmull-Rom Spline interpolation of the path are introduced into the PRM algorithm to obtain I-NPRM algorithm. Using three different path planning schemes for simple, complex and special water environments and comparing them with the planning effectiveness of I-NPRM algorithm, NPRM algorithm, PRM algorithm and A* algorithm under three indicators of runtime, path length and number of inflection points. The experimental results indicate that the I-NPRM algorithm can optimize the sampling point generation strategy while reducing runtime and path length, as well as reducing the number of inflection points. The planned path has high smoothness, which is more in line with the motion constraints and maneuverability of the USV and improves the safety and stability of the autonomous navigation system

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Hongwei Bian, Weifeng Li, Mingzhe Qi, and Shicai Chen "Unmanned surface vehicles path planning based on improved PRM algorithm", Proc. SPIE 13018, International Conference on Smart Transportation and City Engineering (STCE 2023), 1301811 (14 February 2024); https://doi.org/10.1117/12.3024046

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KEYWORDS

Detection and tracking algorithms

Interpolation

Autonomous vehicles

Computer simulations

Connectors

Mathematical optimization

Safety

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