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| Unmanned Surface Vehicle Local Path Planning Based on Marine Radar |
| ZHUANG Jia-Yuan, SU Yu-Min, LIAO Yu-Lei, SUN Han-Bing |
| (National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China) |
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Abstract To solve the local path planning problem of unmanned surface vehicle (USV), this paper designed a path planning method based on marine radar image processing. An image’s edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake，with an optimal path identified in a short time that could satisfy the experimental need．
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Received: 04 November 2011
Published: 28 September 2012
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