A 3D-Sparse A autonomous recovery path planning algorithm for Unmanned Surface Vehicle

• Published in: Ocean engineering 2024-06, Vol.301, p.117565, Article 117565
• Main Authors: Zhou, Lulu, Ye, Xiaoming, Yang, Xianyong, Shao, Yong, Liu, Xiang, Xie, Pengzhan, Tong, Yanjia
• Format: Article
• Language: English
• Subjects: A algorithm; Artificial intelligence; Stern ramp recovery; Unmanned Surface Vehicle (USV)
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2024.117565

Thanks to the development of marine intelligent technology and equipment, the Unmanned Surface Vehicle (USV) has been brought into focus for its exceptional application. To overcome the challenge of the stern ramp recovery for USVs, an advanced 3D-Sparse A* path planning algorithm has been proposed. This algorithm incorporated sparse sampling and the time dimension to optimize the generation of waypoints, resulting in a smaller computation load. Dynamic constraints and evaluation functions were integrated to reconstruct the algorithm’s framework. Simulations suggest that planning speed can be increased by a factor of 20, improving recovery efficiency. The path’s smoothness was elevated, with a maximum curvature 50% lower than the original version. Furthermore, the malposition was reduced to 54.78% of the original, meeting the requirements for particular attitude adjustment during stern ramp recovery. Field experiment indicates that the actual results have a maximum velocity deviation of 0.61 m/s and a maximum course deviation of 1.61 m compared to the planning results. The 3D-Sparse A* algorithm can complete the recovery within a distance of 100 m in 60 s, assuming an unobstructed trajectory. This verifies the feasibility and planning efficiency of the algorithm. •Sparse sampling and time dimension are introduced to improve waypoints’ generation, reducing the computation load.•Reconstructed algorithm for USV’s particular attitude adjustment of stern ramp recovery requirements.•Dynamic constraints are added to enhance the practical applicability.•Velocity deviation is no more than 0.61 m/s and course deviation is less than 1.61 m, validating the feasibility.•Reliable stern ramp recovery within 60 s in 100 m.