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Computer Science > Robotics

arXiv:2007.01691 (cs)
[Submitted on 3 Jul 2020 (v1), last revised 9 Mar 2025 (this version, v3)]

Title:Unmanned Surface Vehicle Path Planning from the Perspective of Multi-Modality Constraints: A Comprehensive Analysis

Authors:Chunhui Zhou, Shangding Gu, Yuanqiao Wen, Zhe Du, Changshi Xiao, Liang Huang, Man Zhu
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Abstract:The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2007.01691 [cs.RO]
  (or arXiv:2007.01691v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2007.01691
Journal reference: Ocean Engineering,2020

Submission history

From: Shangding Gu [view email]
[v1] Fri, 3 Jul 2020 14:01:56 UTC (1,464 KB)
[v2] Sun, 2 Mar 2025 07:49:35 UTC (1,409 KB)
[v3] Sun, 9 Mar 2025 02:24:10 UTC (1,409 KB)
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