关键词: 海事无人艇, 栅格法, Voronoi图, 路径规划

Abstract: In order to solve the problem of path-planning for inland maritime unmanned surface vessel, a traversal algorithm based on inland electronic chart is presented. The grids method in the algorithm is selected to choose navigation area based on the layered inland electronic chart, using global path planning and local path planning method to find approximate navigable path. The Voronoi diagram is selected to establish the navigation path set for dynamic objects or obstacles which can be regarded as particles. Bezier curves and quadratic programming mathematical methods are used to optimize the path of the navigable which is the public area of navigation area（or minor hinders navigation area）and the navigation path set. Matlab based simulations demonstrate that when the obstacle position coordinates or destination location coordinates can generate approximate navigable path. Generating different approximate navigable path can be optimized for optimal safety navigable path, so the constructing environment model and the use of the path planning algorithm are available and effective.

Key words: Unmanned Surface Vessel（USV）, grids method, Voronoi diagram, path-planning