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Volume 13
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Article

A Low-Complexity Path-Planning Algorithm for Multiple USVs in Task Planning Based on the Visibility Graph Method

by
Kai Xue
,
Zhiqin Huang
*,
Ping Wang
,
Zeyu Xu
and
Decheng Kong
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(3), 556; https://doi.org/10.3390/jmse13030556
Submission received: 15 February 2025 / Revised: 7 March 2025 / Accepted: 12 March 2025 / Published: 13 March 2025
(This article belongs to the Special Issue Collision Avoidance and Path Planning for Marine Vehicles)
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Abstract

Path planning for multiple unmanned surface vehicles (USVs) in task planning is a high-complexity problem. When the number of USVs is n, the computational complexity is usually as high as On2, as paths need to be planned from different start points to different target points. In this paper, we propose a low-complexity path-planning algorithm (LCPP) for multiple USVs based on the visibility graph method. First, all paths between the start points, target points, and obstacle vertices are separately planned with the low-complexity On. After that, the Dijkstra algorithm is employed to find the shortest path from each start point to all target points, also with the low-complexity On. To enhance the safety of each USV traveling along the edge of obstacles, the parameters of the adaptive line-of-sight (ALOS) guidance algorithm are optimized using the simulated annealing algorithm. The simulation results show that this algorithm outperforms others in calculation time when dealing with a large number of USVs.
Keywords: path planning; low complexity; unmanned surface vehicle; visibility graph; line of sight path planning; low complexity; unmanned surface vehicle; visibility graph; line of sight

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MDPI and ACS Style

Xue, K.; Huang, Z.; Wang, P.; Xu, Z.; Kong, D. A Low-Complexity Path-Planning Algorithm for Multiple USVs in Task Planning Based on the Visibility Graph Method. J. Mar. Sci. Eng. 2025, 13, 556. https://doi.org/10.3390/jmse13030556

AMA Style

Xue K, Huang Z, Wang P, Xu Z, Kong D. A Low-Complexity Path-Planning Algorithm for Multiple USVs in Task Planning Based on the Visibility Graph Method. Journal of Marine Science and Engineering. 2025; 13(3):556. https://doi.org/10.3390/jmse13030556

Chicago/Turabian Style

Xue, Kai, Zhiqin Huang, Ping Wang, Zeyu Xu, and Decheng Kong. 2025. "A Low-Complexity Path-Planning Algorithm for Multiple USVs in Task Planning Based on the Visibility Graph Method" Journal of Marine Science and Engineering 13, no. 3: 556. https://doi.org/10.3390/jmse13030556

APA Style

Xue, K., Huang, Z., Wang, P., Xu, Z., & Kong, D. (2025). A Low-Complexity Path-Planning Algorithm for Multiple USVs in Task Planning Based on the Visibility Graph Method. Journal of Marine Science and Engineering, 13(3), 556. https://doi.org/10.3390/jmse13030556

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