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Path planning is a common method for unmanned surface vehicle (USV) to carry out multi-task navigation. The appropriate path can effectively ensure the safety and stability of unmanned ship in the navigation process, and reduce the cost loss. In this paper, the task execution process of the USV is considered as a TSP problem, and combined with its trajectory characteristics, the navigation time and distance are minimized. Its trajectory that affected by many factors must be analyzed. By Combining Dubins curve with USV's trajectory, the relationship model between trajectory angle and navigation speed is established, and genetic algorithm is used to solve the task execution sequence and path in the navigation process according to the navigation time and distance. In addition, this article also considers the possible obstacles in USV task planning, and solves the problem by adding new task points. The paper proposes a method to solve the path planning problem in the execution of multi-task for USV, and overcomes the problems of trajectory discontinuity and inconvenient navigation in common methods. At the same time, considering the obstacles in the navigation process, the path planning results are more in line with the actual navigation needs of ships.
Liang et al. (Fri,) studied this question.