Marine Vessel Path Planning & Guidance Using Potential Flow

An efficient potential flow solver is applied to marine vessel path-planning for cluttered environments. The approach is computationally light. This is achieved by employing a simplified potential flow solution as well as generating the path online. The method relies on a simple guidance law that; (A)Regulates a target point to maintain a constant stream-function value, (B)Employ rudder control to steer a vessel towards this target. The utility of potential flow for path-planning is discussed. Simulation results are presented, showing the promise of the above approach.