Local and Global Motion Planning for Unmanned Surface Vehicle
Southern Federal University Sciences, Research Institute of Robotics and Control Processes, 347922 Taganrog, p. Nekrasovsky, 44, Russia
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The paper shows approach of unmanned surface vehicle motion planning in an environment with obstacles. The structure of the control system hardware, software architecture, based on client-server model with the loose coupling in ROS software environment, is presented. Global planner is designed using the method of Generalized Voronoi Diagrams. Local planner is implemented using the unstable regimes of control to bypass obstacles near USV. The results of simulation, which showed the efficiency of the proposed approaches, are presented.
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