Niu, Hanlin, Savvaris, Al, Tsourdos, Antonios and Ji, Ze ![]() |
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Abstract
In this paper, a novel Voronoi-Visibility (VV) path planning algorithm, which integrates the merits of a Voronoi diagram and a Visibility graph, is proposed for solving the Unmanned Surface Vehicle (USV) path planning problem. The VM (Voronoi shortest path refined by Minimising the number of waypoints) algorithm was applied for performance comparison. The VV and VM algorithms were compared in ten Singapore Strait missions and five Croatian missions. To test the computational time, a high-resolution, large spatial dataset was used. It was demonstrated that the proposed algorithm not only improved the quality of the Voronoi shortest path but also maintained the computational efficiency of the Voronoi diagram in dealing with different geographical scenarios, while also keeping the USV at a configurable clearance distance c from coastlines. Quantitative results were generated by comparing the Voronoi, VM and VV algorithms in 2,000 randomly generated missions using the Singapore dataset.
Item Type: | Article |
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Date Type: | Publication |
Status: | Published |
Schools: | Engineering |
Publisher: | Cambridge University Press |
ISSN: | 0373-4633 |
Date of First Compliant Deposit: | 14 January 2019 |
Date of Acceptance: | 24 November 2018 |
Last Modified: | 06 Nov 2023 14:30 |
URI: | https://orca.cardiff.ac.uk/id/eprint/118170 |
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