Dynamic Path-Planning Approach of Garbage Cleanup Oriented Unmanned Ship Based on Simplified Flow Velocity Prediction

Authors

  • Ziyi Huang School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China https://orcid.org/0009-0004-8604-6022
  • Nana Chen School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China https://orcid.org/0009-0003-3105-1310
  • Yangtian Yan School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China
  • Kai Yan School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China
  • Xin Chen School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China
  • Xianhua Zheng School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China
  • Hankun Yin School of Intelligent Manufacturing Engineering, Chongqing University of Arts and Sciences, Chongqing 402160, China
  • Kaixin Xie School of Artificial Intelligence, Anhui University of Science and Technology, Huainan 232001, Anhui, China
  • Lin Zhang School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China https://orcid.org/0000-0002-5140-1096

DOI:

https://doi.org/10.37256/cm.5220244247

Keywords:

autonomous surface vehicle, path-planning, obstacle avoidance, garbage cleanup

Abstract

Research on artificial intelligence and robotics for the ecological protection and restoration of waters has increased in importance with the promotion of national green sustainable development strategies. Autonomous Surface Vessel for Water Cleanup (ASV) research has not yet considered the uncertainty of water surface float positioning under complex current fluctuation factors. The result is that ASV has low accuracy in planning water surface float cleaning paths and its efficiency cannot meet the practical application requirements. To solve the above problems, this paper proposes a dynamic path-planning method architecture based on UAV flow velocity prediction for narrow and shallow water environments such as urban rivers and lakes. We have developed a fusion algorithm based on the progressive optimal rapid random search tree (RRT*) algorithm, DWA dynamic window method, and artificial potential field, and we have realized multi-objective water surface floating under uncertain water flow fluctuations. The location prediction of objects and optimum cleaning paths are carried out, and the method verification is carried out through numerical simulations and prototype experiments. Based on simulation and experimental results, the unmanned surface trash cleaning boat is capable of dynamically predicting trash floaters on the water surface under different water flow environments and generating an optimal cleaning path in real-time. It has certain advantages over existing planning methods in terms of accuracy and timeliness and holds significant practical significance.

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Published

2024-04-16

How to Cite

1.
Huang Z, Chen N, Yan Y, Yan K, Chen X, Zheng X, Yin H, Xie K, Zhang L. Dynamic Path-Planning Approach of Garbage Cleanup Oriented Unmanned Ship Based on Simplified Flow Velocity Prediction. Contemp. Math. [Internet]. 2024 Apr. 16 [cited 2024 May 27];5(2):1672-94. Available from: https://ojs.wiserpub.com/index.php/CM/article/view/4247