Local Path Planning of USV Based on Millimeter Wave Radar
Peilin Hu, Jinchao Xiao, Junfeng Xiong, Jinqing Liu · Academic Journal of Science and Technology · 2023
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.