In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end feasible path searching and a back-end kinodynamic trajectory optimization. Firstly, we model the type of two-thrusts under-actuated surface vessel. Then we adopt a sampling-based path searching to find an asymptotic optimal path through the obstacle-surrounding environment and extract several waypoints from it. We apply a numerical optimization method in the back-end to generate the trajectory. From the perspective of security in the field voyage, we propose the sailing corridor method to guarantee the trajectory away from obstacles. Moreover, considering limited fuel ASV carrying, we design a numerical objective function which can optimize a fuel-saving trajectory. Finally, we validate and compare the proposed method in simulation environments and the results fit our expected trajectory.

中文翻译：

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自主水面车辆的无碰撞轨迹规划

在本文中，我们提出了一种有效且准确的方法，用于自动表面车辆在考虑其动力学约束的情况下生成平滑且无碰撞的轨迹。我们将轨迹规划问题解耦为前端可行路径搜索和后端运动动力学轨迹优化。首先，我们对双推力欠驱动水面船舶的类型进行建模。然后我们采用基于采样的路径搜索来找到通过障碍物周围环境的渐近最优路径并从中提取多个路标。我们在后端应用数值优化方法来生成轨迹。从野外航行安全的角度出发，我们提出了航道法来保证航迹远离障碍物。此外，考虑到有限的燃料 ASV 携带，我们设计了一个可以优化节油轨迹的数值目标函数。最后，我们在仿真环境中验证并比较了所提出的方法，结果符合我们的预期轨迹。