Dynamic Path Planning of USV Based on Improved Artificial Potential Field Method in Harsh Environment

To overcome the shortcomings of traditional artificial potential field method in unmanned surface vehicle(USV) path planning, a waypoint generation algorithm considering the USV's gyration radius constraint is proposed, which can make the planned path smoother and more consistent with the motion characteristics of the USV. The additional lateral force algorithm is designed to detect possible local minimum points and guide the USV out of them in advance. By establishing the obstacle detection mechanism, the redundant cornering angle and path length are reduced when the USV passes through the obstacles. A multi-dimensional path evaluation function is established, which can be used to evaluate the planned paths reasonably. Simulation results show that better path planning for USV in complex environment can be achieved by this new method.