A simulation study of simple local path planning and control for unmanned surface vehicles

Dimitrios Stergianelis; Matthew Richard McConnell; Ze Ji; Ya Huang; Hui Yu

doi:10.1109/IEEECONF38699.2020.9389484

A simulation study of simple local path planning and control for unmanned surface vehicles

Dimitrios Stergianelis
, Matthew Richard McConnell
, Ze Ji
, Ya Huang^*
, Hui Yu

^*Corresponding author for this work

Centre for Creative and Immersive XR

Cardiff University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

402 Downloads (Pure)

Abstract

The present study provides a fundamental but necessary review and implementation of collision avoidance and path planning techniques based on 2D plane kinematics of a small test vessel. The developed path planning logics first consider a single obstacle avoidance scenario, and then move on to tackle multiple obstacle avoidance based on more realistic obstacle and environment representations using multiple overlapping circles of various sizes and positions. The manuscript elaborates the development process step by step with all codes provided in order to introduce the path planning and simulation workflow as a laid tutorial for learners and researchers entering the field.

Original language	English
Title of host publication	Global Oceans 2020: Singapore – U.S. Gulf Coast
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-10
Number of pages	10
ISBN (Electronic)	978-1-7281-5446-6
ISBN (Print)	978-1-7281-8409-8
DOIs	https://doi.org/10.1109/IEEECONF38699.2020.9389484
Publication status	Published - 9 Apr 2021
Event	Global Oceans 2020: Singapore – U.S. Gulf Coast - Biloxi, United States Duration: 5 Oct 2020 → 14 Oct 2020

Publication series

Name	IEEE Global Oceans Proceedings Series
Publisher	IEEE
ISSN (Print)	0197-7385

Conference

Conference	Global Oceans 2020: Singapore – U.S. Gulf Coast
Country/Territory	United States
City	Biloxi
Period	5/10/20 → 14/10/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

unmanned surface vehicle
local path planning
simulation

Access to Document

10.1109/IEEECONF38699.2020.9389484

A simulation study
© © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Accepted author manuscript (Post-print), 2.89 MB

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Stergianelis, D., McConnell, M. R., Ji, Z., Huang, Y., & Yu, H. (2021). A simulation study of simple local path planning and control for unmanned surface vehicles. In Global Oceans 2020: Singapore – U.S. Gulf Coast (pp. 1-10). (IEEE Global Oceans Proceedings Series). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEEECONF38699.2020.9389484

@inproceedings{20af0e3f3f744d0db62eddc2ee031aa9,

title = "A simulation study of simple local path planning and control for unmanned surface vehicles",

abstract = "The present study provides a fundamental but necessary review and implementation of collision avoidance and path planning techniques based on 2D plane kinematics of a small test vessel. The developed path planning logics first consider a single obstacle avoidance scenario, and then move on to tackle multiple obstacle avoidance based on more realistic obstacle and environment representations using multiple overlapping circles of various sizes and positions. The manuscript elaborates the development process step by step with all codes provided in order to introduce the path planning and simulation workflow as a laid tutorial for learners and researchers entering the field.",

keywords = "unmanned surface vehicle, local path planning, simulation",

author = "Dimitrios Stergianelis and McConnell, \{Matthew Richard\} and Ze Ji and Ya Huang and Hui Yu",

note = "No embargo. {\textcopyright} {\textcopyright} 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; Global Oceans 2020: Singapore – U.S. Gulf Coast ; Conference date: 05-10-2020 Through 14-10-2020",

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language = "English",

isbn = "978-1-7281-8409-8",

series = "IEEE Global Oceans Proceedings Series",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "United States",

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Stergianelis, D, McConnell, MR, Ji, Z, Huang, Y & Yu, H 2021, A simulation study of simple local path planning and control for unmanned surface vehicles. in Global Oceans 2020: Singapore – U.S. Gulf Coast. IEEE Global Oceans Proceedings Series, Institute of Electrical and Electronics Engineers Inc., pp. 1-10, Global Oceans 2020: Singapore – U.S. Gulf Coast, Biloxi, Massachusetts, United States, 5/10/20. https://doi.org/10.1109/IEEECONF38699.2020.9389484

A simulation study of simple local path planning and control for unmanned surface vehicles. / Stergianelis, Dimitrios; McConnell, Matthew Richard; Ji, Ze et al.
Global Oceans 2020: Singapore – U.S. Gulf Coast. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1-10 (IEEE Global Oceans Proceedings Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - McConnell, Matthew Richard

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AU - Yu, Hui

N1 - No embargo. © © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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AB - The present study provides a fundamental but necessary review and implementation of collision avoidance and path planning techniques based on 2D plane kinematics of a small test vessel. The developed path planning logics first consider a single obstacle avoidance scenario, and then move on to tackle multiple obstacle avoidance based on more realistic obstacle and environment representations using multiple overlapping circles of various sizes and positions. The manuscript elaborates the development process step by step with all codes provided in order to introduce the path planning and simulation workflow as a laid tutorial for learners and researchers entering the field.

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KW - local path planning

KW - simulation

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BT - Global Oceans 2020: Singapore – U.S. Gulf Coast

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ER -

A simulation study of simple local path planning and control for unmanned surface vehicles

Abstract

Publication series

Conference

UN SDGs

Keywords

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