International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
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Path planning on satellite images for unmanned surface vehicles

  • Yang, Joe-Ming (Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University Tainan) ;
  • Tseng, Chien-Ming (Department of Electrical Engineering and Computer Science, Masdar Institute) ;
  • Tseng, P.S. (Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University Tainan)
  • Published : 2015.01.31
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Abstract

In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle $A^*$ algorithm ($FAA^*$), an advanced $A^*$ algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.

Keywords

References

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