A trajectory-cell based method was proposed for unmanned surface vehicle (USV) motion
planning to combine the expression of the dynamic constraints and the discretization of the
search space. The dynamic constraints were expressed by the USV trajectories produced by
the mathematical model. The search space was performed by the discretization rules with
the consideration of the path continuity, the search convenience and the maneuvering
simplification. Therefore, the trajectory-cells were the discretized trajectories, which made …