Path Planning for Unmanned Surface Vehicle Based on Fish Swarm Algorithm and Bezier Curve Optimization
WANG Zefan
WANG Quanzheng
SUN Xiaoxu
ZHU Kaipeng
LIAN Shihao
WANG Xiaoyuan
Abstract：Designing a navigation route that is not only safe but also continuous and collision-free is the key to unmanned ships.In this paper,an algorithm combining artificial fish swarm algorithm and continuous segmented Bezier curve is proposed to solve the problem of path planning and route smoothing for small unmanned ship.Aiming at the problems such as low precision,many path points and long planned path of traditional path planning algorithm,artificial fish swarm algorithm is introduced to plan the route for unmanned ships.Artificial fish swarm algorithm has the advantages of good robustness,strong global search ability and high tolerance of parameter setting,and also introduces adaptive step size.In order to ensure that the planned path is continuous in direction and curvature,Bezier curve theory is introduced to smooth the planned path.The simulation results show that the artificial fish swarm algorithm can find the shortest average path in the multi-path environment and achieve higher planning accuracy.In addi-tion,the smooth path is continuous in both direction and curvature,and the proposed method is further verified by a real ship experi-ment,which satisfies the characteristics of unmanned ship sailing on the surface.
Keywords：small unmanned surface vehicleBezier curveartificial fish swarm algorithmpath planning
Publication Date：2025-05-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 37-42 )