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A path planning method for unmanned surface vehicle based on improved dynamic window approach
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Zhao LIU1, 2, 3, 4, Chenhan LUO1, 2, 3, Yang CHEN1, 2, 3, Mingyang ZHANG5
Navigation of China | 2025, 48(2) : 80 - 90
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Navigation of China | 2025, 48(2): 80-90
• Intelligent Shipping •
A path planning method for unmanned surface vehicle based on improved dynamic window approach
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Zhao LIU1, 2, 3, 4, Chenhan LUO1, 2, 3, Yang CHEN1, 2, 3, Mingyang ZHANG5
Affiliations
  • 1.School of Navigation, Wuhan University of Technology, Wuhan 430063, China
  • 2.State Key Laboratory of Maritime Technology and Safety, Wuhan 430063, China
  • 3.Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China
  • 4.Sanya Science and Education Innovation Park of Wuhan University of Technology, Sanya 572000, China
  • 5.School of Engineering, Aalto University, Espoo 20110, Finland
Published: 2025-06-25 doi: 10.3969/j.issn.1000-4653.2025.02.011
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To improve the effectiveness of Unmanned Surface Vehicle (USV) path planning in complex marine environments, and to address the issue of low operational efficiency in dynamic environments, a new Dynamic Window Approach (DWA) for USV path planning has been developed. Firstly, the target water area range is determined based on the USV's initial and target positions, and the water area is modelled using a grid system. Secondly, the forces exerted on the USV by wind, waves and currents are calculated and combined with the USV's mass to produce an acceleration value, thereby forming a kinematic model of the USV under the influence of the marine environment. Thirdly, the maximum values of linear and angular acceleration of the USV are determined using the Fossen ship dynamics model, thus obtaining the actual reachable speed set of the USV. Finally, an adaptive weight adjustment algorithm is used to improve DWA and plan the USV path, considering the heading, safe distance and speed factors. Simulation experiments were conducted in the waters near the Zhoushan Islands using the USV "Zhi Kun" to verify the reliability of the model. The results show that, compared with the comparative algorithm, the proposed algorithm performs better in terms of running time, simulation step size, change in bow direction amplitude, change in speed amplitude, and length of the planned path. The improved DWA-planned path ensures the USV can reach its destination safely and quickly, providing a reference for improving the autonomous navigation performance and efficient utilisation of USVs.

Unmanned Surface Vehicle  /  DWA algorithm  /  path planning  /  marine environment
Zhao LIU, Chenhan LUO, Yang CHEN, Mingyang ZHANG. A path planning method for unmanned surface vehicle based on improved dynamic window approach[J]. Navigation of China, 2025 , 48 (2) : 80 -90 . DOI: 10.3969/j.issn.1000-4653.2025.02.011
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Year 2025 volume 48 Issue 2
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Article Info
doi: 10.3969/j.issn.1000-4653.2025.02.011
  • Receive Date：2024-05-30
  • Online Date：2026-03-17
  • Published：2025-06-25
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  • Received：2024-05-30
Funding
Affiliations
    1.School of Navigation, Wuhan University of Technology, Wuhan 430063, China
    2.State Key Laboratory of Maritime Technology and Safety, Wuhan 430063, China
    3.Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China
    4.Sanya Science and Education Innovation Park of Wuhan University of Technology, Sanya 572000, China
    5.School of Engineering, Aalto University, Espoo 20110, Finland
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