Chinese Journal of Ship Research, Volume. 19, Issue 1, 220(2024)
Path planning for auto docking of underactuated ships based on Bezier curve and hybrid A* search algorithm
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Table 1. The parameters of USV
Table 2. Parameters for the three-DOFs USV dynamic model
View tableView in ArticleTable 2. Parameters for the three-DOFs USV dynamic model
参数 数值 $ \boldsymbol{I}_{\textit{z}}{\rm /kg} $ 192.0 ${Y_{\dot v}}{\rm /kg}$ −72.1 ${Y_{\dot r}}/(\mathrm{kg}\cdot \mathrm{m})$ −179.2 ${N_{\dot v}}/(\mathrm{kg}\cdot \mathrm{m})$ −132.8 ${N_{\dot r}}/({\mathrm{kg}} \cdot {{\mathrm{m}}^2})$ −828.8 ${X_u}/(\mathrm{N\cdot s\cdot m}^{-1})$ −8.6 ${Y_v}/(\mathrm{N\cdot s\cdot m}^{-1})$ −232.3 ${N_r}/(\mathrm{N\cdot m\cdot s\cdot rad^{-1}})$ −171.2 ${X_{|u|u}}/(\mathrm{N\cdot}\mathrm{s}^2\cdot\mathrm{m}^{-2})$ −48.5 ${Y_{|v|v}}/(\mathrm{N\cdot}\mathrm{s}^2\cdot\mathrm{m}^{-2})$ −81.2 ${N_{|r|r}}/(\mathrm{N\cdot m}\mathrm{\cdot s}^2\cdot\mathrm{ra}\mathrm{d}^{-2})$ −163.1
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Zhihuan HU, Ziheng YANG, Weidong ZHANG. Path planning for auto docking of underactuated ships based on Bezier curve and hybrid A* search algorithm[J]. Chinese Journal of Ship Research, 2024, 19(1): 220
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Received: Dec. 28, 2022
Accepted: --
Published Online: Mar. 18, 2025
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