Energy-efficient Path Planning and Control Approach of USV Based on Particle Swarm optimization

Abstract

Aiming at navigation safety and energy consumption, a novel energy-efficient path planning and path following control approach in a complex sea environment is proposed based on particle swarm optimization algorithm. Firstly, the mathematical model of the USV movement and the mathematical model of the marine environment are established. Secondly, the electronic chart information and environmental information are extracted and converted into the data required for path planning, and then the data for the path planning is modeled. Thirdly, in terms of static obstacles in the navigation area, combined with the sea environmental conditions, the particle swarm optimization algorithm is used to obtain an energy-efficient path through proper objective function and constraints. The route is re-planed and adjusted in real time with the weather conditions change. Fourthly, the generated energy-efficient path is followed by the PID control method with the optimal control parameter by using particle swarm optimization. Finally, the effectiveness of the proposed algorithm is proved to improve the safety and energy economy of the USV through a series of simulation experiment.