Mathematical model of collision avoidance route planning for USVs in narrow waterways

A safe navigation route for USVs is designed to avoid obstacles when navigating in narrow waterway. A series of plane distribution points are selected in the navigation water area, and the adjacent distribution points are connected by a smooth curve, which is used to represent the obstacle avoidance path of USVs sailing in narrow waterway. The energy function of the length path and the energy of the collision penalty function for obstacles are defined as the total energy in paper for achieving the best avoidance path. With mathematical optimization methods, it is obtained that the total energy is extremely small so that each path point will move toward the direction of energy reduction, and that the optimal obstacle avoidance path is reached. The feasibility of the model is verified via computer simulation.