Trajectory Planning Method for Multi-USV Cooperative Occupying Based on Dubins Curves

DOI: https://doi.org/10.62517/jes.202502210

Author(s)

Wenxuan Sun*

Affiliation(s)

Jiangsu Automation Research Institute, Lianyungang, Jiangsu, China * Corresponding Author

Abstract

Aiming at the operational requirement of occupying positions during multi-unmanned surface vehicle (USV) cooperative combat, this paper studies the trajectory planning problem in the multi-USV cooperative occupying phase and proposes a trajectory planning algorithm based on Dubins curves. For the single-USV trajectory solving problem, a discriminant table is used instead of traditional methods to improve the process of calculating six cases in the Dubins curve geometric method, reducing the calculation time. For the time constraints of multi-USV cooperative combat, a time coordination method for occupying trajectories is studied. The coordination arrival time at occupying points is determined based on the navigation time of single-USV occupying trajectories, and the navigation speed of each USV is planned under tangential acceleration and velocity constraints to ensure arrival at the positions at specified times. The proposed trajectory planning algorithm is verified through simulation experiments.

Keywords

Unmanned Surface Vehicle (USV); Cooperative Combat; Occupation; Trajectory Planning; Time Coordination

References

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