Track planning and design of autonomous obstacle avoidance for unmanned ships in complex environments

Route planning is an essential and important part of unmanned aerial vehicle (UAV) operations at sea. Therefore, this paper designs the trajectory planning for autonomous obstacle avoidance of unmanned ships in complex environments. Adopt the body coordinate system and inertial coordinate system to confirm the coordinates and heading angle of the unmanned ship; improve the inertia weight, determine the space constraints of the track planning, and accurately determine the autonomous obstacle avoidance path of the unmanned ship. Simulation experiments show that the trajectory planning method for autonomous obstacle avoidance of unmanned ships in complex environments designed in this paper reduces the time consumption of navigation, has stronger real-time performance, and can approximately represent the global optimal trajectory.