Time-consuming Calculation and Simulation of Unmanned Surface Vessel (USV) Steering Based on Dynamic Window Approach (DWA)

Abstract

The conventional dynamic window approach (DWA) model lacks the time planning capability when simulating the steering process of an unmanned surface vessel (USV). In this paper, we propose a steering time-consuming calculation based on the DWA method in an actual context. In this study, the channel environment model established by the MATLAB software is examined, and the DWM model is modified to calculate the time-consuming steering process of an underwater vessel. Simulations with different steering angles are conducted to verify the applicability and effectiveness of the model in solving this problem of underwater vessel steering in an actual environment. A set of parameters such as heading deviation weight, safety distance weight, sailing speed weight, and simulated trajectory time are selected, and the optimized parameters are screened out according to their sensitivity to the results. The research results show that our proposed method can improve the USV planning ability and enhance the effectiveness of handling related path planning problems.