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Unmanned Surface Vehicle Collision Avoidance Path Planning in Restricted Waters Using Multi-Objective Optimisation

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Summary

This study introduces a new path planning strategy for unmanned surface vehicles (USVs) to ensure safe navigation. The method effectively avoids collisions with obstacles, considering complex marine environments and regulations.

Keywords:
COLREGscollision avoidancehardware-in-the-loop testmulti-objective optimisationpath planningunmanned surface vehicle

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Area of Science:

  • Marine robotics
  • Autonomous navigation systems
  • Collision avoidance algorithms

Background:

  • Navigation safety is critical for unmanned surface vehicles (USVs) operating in complex marine environments.
  • Reliable path planning systems are essential for collision avoidance in USVs.
  • Existing systems may not fully account for diverse environmental and regulatory constraints.

Purpose of the Study:

  • To propose a novel weighted sum multi-objective optimization strategy for USV collision avoidance path planning.
  • To enhance USV navigation safety in restricted waters by integrating multiple constraints.
  • To develop an adaptive path planning framework for varying navigation scenarios.

Main Methods:

  • A weighted sum multi-objective optimization approach was developed.
  • Incorporated the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs).
  • Integrated terrain and weather constraints into the path planning system.
  • Validated the framework using numerical simulations and hardware-in-the-loop (HIL) tests with real-time Automatic Identification System (AIS) data.

Main Results:

  • The proposed strategy effectively avoids collisions with both dynamic and static obstacles.
  • The path planning system demonstrated adaptability to different navigation restrictions and user preferences.
  • HIL tests confirmed the framework's applicability in restricted waters with complex terrains and weather.
  • The system successfully integrated true AIS signals for realistic navigation scenarios.

Conclusions:

  • The novel weighted sum multi-objective optimization strategy enhances USV collision avoidance.
  • The developed framework is effective and adaptive for USV navigation in challenging marine environments.
  • The integration of COLREGs, terrain, and weather data improves navigation safety and reliability.