Unmanned Surface Vehicle Local Path Planning Based on Marine Radar

Abstract

Abstract: To solve the local path planning problem of unmanned surface vehicle (USV), this paper designed a path planning method based on marine radar image processing. An image’s edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake，with an optimal path identified in a short time that could satisfy the experimental need．

Key words: unmanned surface vehicle (USV), marine radar, image processing, Dijkstra algorithm, local path planning

ZHUANG Jia-Yuan, SU Yu-Min, LIAO Yu-Lei, SUN Han-Bing. Unmanned Surface Vehicle Local Path Planning Based on Marine Radar[J]. Journal of Shanghai Jiaotong University, 2012, 46(09): 1371-1375.

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