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 …

Abstract This paper presents Extended Dynamic Window Approach (EDWA) for the
automatic berthing of an underactuated unmanned surface vehicle (USV). Different from the …

Unmanned surface vesssel (USV) has been widely applied due to its advantages in the
military reconnaissance and resources exploration. Path planning is one of the critical …

This paper proposes an optimal control-based method named the rapid-Gauss
pseudospectral method (RGPM) to obtain a smooth time-optimal path for unmanned surface …

Due to the complex hydrology and narrow channels of inland rivers, ship collision accidents
occur frequently. The traditional collision-avoidance algorithms are often aimed at sea …

This paper presents a Predicted Trajectory Approach (PTA) for global motion planning of an
underactuated unmanned surface vehicle (USV). Different from the conventional path …

In recent decades, path planning for unmanned surface vehicles (USVs) in complex
environments, such as harbours and coastlines, has become an important concern. The …

Aiming at the problem that the path search rules in the traditional path planning methods are
divorced from the actual maneuverability of an unmanned surface vehicle (USV), a motion …

Unmanned surface vehicle (USV) formation is a hot topic of current research. Path planning
is the core technology for USV formation. This paper focuses on a USV formation path …

In order to address the problem that uncertain environments may cause uncertain
disturbances to the motion planning of unmanned surface vehicles (USV) due to the effects …