Lu Chang

SVF-RRT*: A Stream-Based VF-RRT* for USVs Path Planning Considering Ocean Currents

In a large-scale oceanic environment with spatially variable ocean currents, it is vital for unmanned surface vehicles (USVs) to navigate with a safe and energy-efficient path. In this letter, a stream-based VF-RRT* (SVF-RRT*) is proposed for path planning in ocean current fields defined by the stre