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Chinese Journal of Ship Research, Volume. 16, Issue 1, 89(2021)

Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function

Qingliang LI1, Bin LI2, Guohao SUN2, Xing CUI3, and Xintao MAO3
Author Affiliations
  • 1College of Electrical Engineering, Sichuan University, Chengdu 610065, China
  • 2School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
  • 3Beijing SunWise Space Technology Co., Ltd., Beijing 100194, China
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    [5] SONG R, LIU Y C, BUCKNALL R. Smoothed A* algorithm for practical unmanned surface vehicle path planning[J]. Applied Ocean Research, 83, 9-20(2019).

    [6] LIU Y C, BUCKNALL R. Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment[J]. Ocean Engineering, 97, 126-144(2015).

    [7] CHO Y, HAN J, KIM J et al. Experimental validation of a velocity obstacle based collision avoidance algorithm for unmanned surface vehicles[J]. IFAC-Papers OnLine, 52, 329-334(2019).

    [13] LI B, YU C J, TEO K L et al. An exact penalty function method for continuous inequality constrained optimal control problem[J]. Journal of Optimization Theory and Applications, 151, 260-291(2011).

    [14] LI B, XU C, TEO K L et al. Time optimal Zermelo's navigation problem with moving and fixed obstacles[J]. Applied Mathematics and Computation, 224, 866-875(2013).

    [15] [15] TEO K L, GOH C J, WONG K H. A unified computational approach to optimal control problems[M]. Essex: Longman Scientific Technical, 1991.

    [16] YU C J, TEO K L, ZHANG L S et al. A new exact penalty function method for continuous inequality constrained optimization problems[J]. Journal of Industrial and Management Optimization, 6, 895-910(2010).

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    Qingliang LI, Bin LI, Guohao SUN, Xing CUI, Xintao MAO. Trajectory planning and automatic obstacle avoidance algorithm for unmanned surface vehicle based on exact penalty function[J]. Chinese Journal of Ship Research, 2021, 16(1): 89

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    Paper Information

    Category: Intelligent Navigation

    Received: Nov. 30, 2020

    Accepted: --

    Published Online: Mar. 27, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.02209

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology