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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationGlobal Oceans 2020: Singapore – U.S. Gulf Coast
Number of pages10
ISBN (Electronic)978-1-7281-5446-6
ISBN (Print)978-1-7281-8409-8
Publication statusPublished - 9 Apr 2021
EventGlobal Oceans 2020: Singapore – U.S. Gulf Coast - Biloxi, United States
Duration: 5 Oct 202014 Oct 2020

Publication series

NameIEEE Global Oceans Proceedings Series
ISSN (Print)0197-7385


ConferenceGlobal Oceans 2020: Singapore – U.S. Gulf Coast
CountryUnited States


  • A simulation study

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    Accepted author manuscript (Post-print), 2.89 MB, PDF document

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