Jianyao Wang

In order to solve the problem of obstacle avoidance for unmanned surface vehicles (USV), based on the classic RRT algorithm and Velocity Obstacle principle, an improved RRT algorithm is proposed. For the situation of the extension direction of the parent node inside the collision cone in the EXTEND operation, ‘obstacle repellent vector’ and ’collision risk index’ are presented, making the extension direction of the search tree have the tendency to move away from obstacle. Meanwhile for the problem of the real time performance of the algorithm and path oscillation, ‘target attraction vector’ and waypoint corner constraint are introduced to accelerate the convergence of the algorithm and improve the quality of path point. Path planning experiment results show that the improved algorithm has better real-time character. Path tracking experiment results based on 3-DOF ship nonlinear dynamic model reveal that the collision-free paths generated by improved RRT algorithm are smoother and the navigation time is shorter, which are of great significance for practical engineering application.