Bing YANG, Jiansen ZHAO, Shengzheng WANG, Zongxuan XIE, Xuesheng ZHANG. Path planning method for unmanned surface vehicle with controllable distance from obstacles[J]. Chinese Journal of Ship Research, 2022, 17(6): 209
- Chinese Journal of Ship Research
- Vol. 17, Issue 6, 209 (2022)
![[in Chinese]](/richHtml/CJSR/2022/17/6/209/img_1.jpg)
Fig. 1. [in Chinese]
![[in Chinese]](/richHtml/CJSR/2022/17/6/209/img_2.jpg)
Fig. 2. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif){kind=icon}
Fig. 3. [in Chinese]
Fig. 4. [in Chinese]
Fig. 5. [in Chinese]
Fig. 6. [in Chinese]
Fig. 7. [in Chinese]
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Table 1. Navigation boundary and its corresponding Voronoi field value
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Table 2. Comparison of results under different navigation boundaries
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