Dynamic replanning algorithm of local trajectory for unmanned surface vehicle

Unmanned surface vehicle (USV) is a kind of important marine autonomous robots, which has been studied and applied to practice gradually. In the study, the far-field collision conflict scope and marine traffic rules for USV are defined. A novel far-field region collision detection method is proposed for the collision conflict detection. The constraints from marine traffic rules and collision conflict are denoted by feasible candidate direction angle sets. On the base of sparse A*, a dynamic replanning algorithm of local trajectory is proposed for dynamic obstacles avoidance of USV in the far-field region. In the simulation, the validity of the algorithm is demonstrated in the experiments by different types of scenarios.