Motion planning for Unmanned Surface Vehicle based on Trajectory Unit

Aiming at fine motion control on a small scale area for unmanned surface vehicle (USV), an approach for motion planning based on Trajectory Unit has been proposed. By making use of USV's hydrodynamic model and combining corresponding rules, the method generates a Trajectory Unit set which contains different orbit segments. Through the location and direction that the set of tracks can reach, the route searching in research waters can be done. Finally, a practical motion route will be planned for an USV. The experimental results show that, the planning route can not only avoid obstacles, but also meet the movement characteristics of an USV. And the approach has realized the fine motion control for an USV in a small range of scenarios.