The maneuvering characteristics of the unmanned surface vehicle itself are very important to motion planning due to the limited water scale area. If the size, motion state, and maneuvering characteristics of the unmanned surface vehicle are not considered, the shortest path obtained is actually not feasible in the restricted waters. In this article, the widely used A* algorithm is improved by accounting for the maneuvering characteristics of the unmanned surface vehicle, named as the Label-A* Algorithm, which is further employed to fix the problem related to the motion planning for the unmanned surface vehicle in restricted waters. The solution to the motion planning mainly contains three stages. First, the unmanned surface vehicle trajectory unit library is established based on its maneuvering characteristics; second, an improved label-A* Algorithm is constructed, and the unmanned surface vehicle motion planning method is proposed with the trajectory unit, which is suitable for the restricted waters; Finally, numerical simulations and filed tests are designed to verify the formulated model and proposed algorithm. The motion planning method can simultaneously meet the state constraints, maneuvering characteristics constraints, and water scale constraints of unmanned surface vehicle.

中文翻译：

---

一种限制水域无人水面航行器的运动规划方法

由于水尺区域有限，无人水面车辆本身的机动特性对运动规划非常重要。如果不考虑无人水面车辆的尺寸、运动状态和机动特性，得到的最短路径在限制水域实际上是不可行的。在本文中，广泛使用的A*算法通过考虑无人水面车辆的机动特性进行改进，命名为Label-A*算法，进一步用于解决与无人水面运动规划相关的问题车辆在限制水域。运动规划的解决方案主要包含三个阶段。首先，根据其机动特性建立无人水面车辆轨迹单元库；第二，构建了改进的label-A*算法，提出了适用于受限水域的具有轨迹单元的无人水面车辆运动规划方法；最后，通过数值模拟和现场测试来验证所提出的模型和所提出的算法。该运动规划方法可以同时满足无人水面车辆的状态约束、机动特性约束和水尺度约束。