A Kinodynamic Model for Dubins-Based Trajectory Planning in Precision Oyster Harvesting

Oyster aquaculture in the U.S. faces severe inefficiencies due to the absence of precise path planning tools, resulting in environmental degradation and resource waste. Current dredging techniques lack trajectory planning, often leading to redundant seabed disturbance and suboptimal shell distribution. Existing vessel models-such as the Nomoto or Dubins models-are not designed to map steering inputs directly to spatial coordinates, presenting a research gap in maneuver planning for underactuated boats. This research fills that gap by introducing a novel hybrid vessel kinetics model that integrates the Nomoto model with Dubins motion primitives. Our approach links steering inputs directly to the vessel motion, enabling Cartesian coordinate path generation without relying on intermediate variables like yaw velocity. Field trials in the Chesapeake Bay demonstrate consistent trajectory following performance across varied path complexities, with average offsets of 0.01 m, 1.35 m, and 0.42 m. This work represents a scalable, efficient step toward real-time, constraint-aware automation in oyster harvesting, with broader implications for sustainable aquaculture operations.