Unmanned Surface Vehicle Path Planning from the Perspective of Multi-Modality Constraints: A Comprehensive Analysis

TL;DR

This paper reviews the progression of path planning for Unmanned Surface Vehicles considering multi-modality constraints, highlighting current methods, challenges, and future research directions across different planning stages.

Contribution

It provides a comprehensive analysis of multi-modality constrained path planning for USVs, categorizing research into three stages and reviewing classical algorithms and challenges.

Findings

Identifies three stages: Route, Trajectory, and Motion Planning.

Reviews classical algorithms applied to USV path planning.

Highlights existing problems and future research directions.

Abstract

The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.