Path planning method for unmanned surface vehicle with controllable distance from obstacles

Table 1. Navigation boundary and its corresponding Voronoi field value
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Table 1. Navigation boundary and its corresponding Voronoi field value
航行界限与航行界限对应的维诺值
0级 0
1级 (0, 0.2)
2级 [0.2, 0.4)
3级 [0.4, 0.6)
4级 [0.6, 0.8)
5级 [0.8, 1.0)

Table 2. Comparison of results under different navigation boundaries
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Table 2. Comparison of results under different navigation boundaries
航行界限路径长度/ n mile 路径与障碍物之间的最近距离/m
0级 2.650 81.49
1级 2.334 74.08
2级 2.256 49.93
3级 2.236 33.34
4级 2.220 18.89
5级 2.216 14.80

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Bing YANG, Jiansen ZHAO, Shengzheng WANG, Zongxuan XIE, Xuesheng ZHANG. Path planning method for unmanned surface vehicle with controllable distance from obstacles[J]. Chinese Journal of Ship Research, 2022, 17(6): 209

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