Local Path Planning of USV Based on Millimeter Wave Radar

Peilin Hu; Jinchao Xiao; Junfeng Xiong; Jinqing Liu

doi:10.54097/ajst.v4i3.4781

Authors

Peilin Hu
Jinchao Xiao
Junfeng Xiong
Jinqing Liu

DOI:

https://doi.org/10.54097/ajst.v4i3.4781

Keywords:

USV, Obstacle, Millimeter wave radar, Improved B-spline curve.

Abstract

The USV (Unmanned Surface Vehicle) have unpredictable obstacles in the process of performing missions. To avoid obstacles smoothly, a local path planning method based on millimeter wave radar detection is proposed. An optimal path under the constraints of local path length and smoothness is screened out by improving the B-spline curve method, and the navigation safety and optimization of USV are improved through the actual verification of multiple launchings.

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