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A USV-UAV Cooperative Trajectory Planning Algorithm with Hull Dynamic Constraints.

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Summary

This study introduces a cooperative unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) system for efficient trajectory generation. The system ensures safe and smooth USV navigation in complex environments using advanced planning and control methods.

Keywords:
USV-UAV cooperationhull dynamicsnumerical optimizationtrajectory generationunder-actuated constraint

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Area of Science:

  • Robotics
  • Autonomous Systems
  • Navigation

Background:

  • Efficient trajectory generation for unmanned surface vehicles (USVs) in dynamic environments is challenging due to perception limitations caused by hull swing and weather.
  • Optimal path planning for USVs is hindered by environmental interference and the vehicle's complex kinematic characteristics.

Purpose of the Study:

  • To propose a cooperative trajectory planning algorithm for a coupled USV-UAV system.
  • To enable USVs to execute safe, smooth, and energy-efficient trajectories in multi-obstacle environments.
  • To address the under-actuated kinematic constraints of USVs for improved motion control.

Main Methods:

  • Utilizing an unmanned aerial vehicle (UAV) as a flight sensor with a lightweight semantic segmentation network and 3D projection for real-time mapping.
  • Generating an initial obstacle avoidance trajectory using a graph-based search method.
  • Applying a numerical optimization method incorporating hull dynamic constraints for trajectory refinement.
  • Implementing a nonlinear model predictive control (NMPC) for motion control with energy consumption constraints.

Main Results:

  • The proposed system successfully generates locally optimal trajectories for USVs.
  • The generated trajectories demonstrate considerable tracking accuracy, facilitating smooth and safe navigation.
  • Experimental results validate the effectiveness of the integrated USV-UAV system for autonomous navigation.

Conclusions:

  • The cooperative USV-UAV system effectively overcomes challenges in USV trajectory generation and navigation.
  • The integration of UAV-based sensing and USV-specific optimization enhances path planning and control.
  • The developed approach ensures safe, smooth, and energy-efficient autonomous operation of USVs in complex environments.