Local Path Planning for Unmanned Surface Vehicle Collision Avoidance Based on Modified Quantum Particle Swarm Optimization
An unmanned surface vehicle (USV) plans its global path before the mission starts. When dynamic obstacles appear during sailing, the planned global path must be adjusted locally to avoid collision. This study proposes a local path planning algorithm based on the velocity obstacle (VO) method and mod...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2020-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/3095426 |