Kinodynamic Motion Planning for Autonomous Surface Ships Using Motion Primitives

In this letter, a method of kinodynamic-feasible trajectory planning for autonomous surface ships is proposed. By sampling in the control space, the discrete control inputs are obtained. Then, under the conditions of the control inputs obtained, forward integrate the system equation of the ship over a given short time to obtain the motion primitives. optimal trajectories by exploring the map using a set of short-time motion primitives. Using a series of motion primitives to construct a state lattice graph in the state space, that can be explored using graph search algorithms. The proposed method can generate smooth trajectories under the dynamics and kinematics of the ship's system, which creates favorable conditions for subsequent motion control and trajectory tracking.