An energy-efficient path planning algorithm for unmanned surface vehicles

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dc.contributor.authorNiu, Hanlin
dc.contributor.authorLu, Yu
dc.contributor.authorSavvaris, Al
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2018-06-19T15:19:42Z
dc.date.available2018-06-19T15:19:42Z
dc.date.issued2018-05-25
dc.description.abstractThe sea current state affects the energy consumption of Unmanned Surface Vehicles (USVs) significantly and the path planning approach plays an important role in determining how long the USV can travel. To improve the endurance of the USV, an energy efficient path planning approach for computing feasible paths for USVs that takes the energy consumption into account based on sea current data is proposed. The approach also ensures that the USV remains at a user-configurable safety distance away from all islands and coastlines. In the proposed approach, Voronoi diagram, Visibility graph, Dijkstra's search and energy consumption function are combined, which allows USVs to avoid obstacles while at the same time using minimum amount of energy. The Voronoi-Visibility (VV) energy-efficient path and the corresponding shortest path were simulated and compared for ten missions in Singapore Strait and five missions for islands off the coast of Croatia. Impact of parameters such as mission time, the USV speed and sea current state on the results were analysed. It is shown that the proposed VV algorithm improves the quality of the Voronoi energy efficient path while keeping the same level of computational efficiency as that of the Voronoi energy efficient path planning algorithm.en_UK
dc.identifier.citationNiu H, Lu Y, Savvaris A, Tsourdos A. (2018) An energy-efficient path planning algorithm for unmanned surface vehicles. Ocean Engineering, Volume 161, August 2018, pp. 308-321en_UK
dc.identifier.issn0029-8018
dc.identifier.urihttps://doi.org/10.1016/j.oceaneng.2018.01.025
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13249
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectUnmanned surface vehiclesen_UK
dc.subjectEnergy efficienten_UK
dc.subjectPath planningen_UK
dc.subjectVoronoi diagramen_UK
dc.subjectVisibility graphen_UK
dc.subjectDijkstra's searchen_UK
dc.titleAn energy-efficient path planning algorithm for unmanned surface vehiclesen_UK
dc.typeArticleen_UK

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