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OC-DWA: An Improved Dynamic Window Approach for USV Online Planning Considering Ocean Currents

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Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) (ICAUS 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1176))

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Abstract

In an oceanic environment, the dynamic window approach (DWA) is a widely used method for USV path planning. However, DWA neglects the impact of ocean currents on energy conservation. So we propose an improved DWA considering ocean currents (OC-DWA) for path planning in ocean current fields. Firstly, a view function is introduced to avoid being trapped by obstacles. Meanwhile, a novel evaluation function combined with ocean currents is introduced for conserving energy. Furthermore, an adaptive factor is utilized to maintain the balance between marching to the goal and following the currents. Finally, two kinds of ocean current environments are employed for comparison and results show that OC-DWA is superior to traditional DWA in various metrics.

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Authors and Affiliations

  1. School of Automation, Nan**g University of Science and Technology, Nan**g, 210094, China

    Weilong Zhang, Liang Shan, Lu Chang, Zhidong Qi & Yuewei Dai

  2. Nan**g Center for Applied Mathematics, Nan**g, 211135, China

    Yuewei Dai

Authors
  1. Weilong Zhang
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  2. Liang Shan
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  3. Lu Chang
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  4. Zhidong Qi
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  5. Yuewei Dai
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Corresponding author

Correspondence to Liang Shan .

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Editors and Affiliations

  1. Nan**g University of Science and Technology, Nan**g, China

    Yi Qu

  2. Bei**g HIWING Scientific and Technological Information Institute, Bei**g, China

    Mancang Gu

  3. College of Intelligence Science and Technology, National University of Defense Technology, Changsha, Hunan, China

    Yifeng Niu

  4. Unmanned System Research Institute, Northwestern Polytechnical University, **'an, Shaanxi, China

    Wenxing Fu

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Zhang, W., Shan, L., Chang, L., Qi, Z., Dai, Y. (2024). OC-DWA: An Improved Dynamic Window Approach for USV Online Planning Considering Ocean Currents. In: Qu, Y., Gu, M., Niu, Y., Fu, W. (eds) Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023). ICAUS 2023. Lecture Notes in Electrical Engineering, vol 1176. Springer, Singapore. https://doi.org/10.1007/978-981-97-1099-7_4

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