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Motion Control and Path Planning of Marine Vehicles—3rd Edition
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Motion Control and Path Planning of Marine Vehicles—3rd Edition

A special issue of Journal of Marine Science and Engineering (ISSN 2077-1312). This special issue belongs to the section "Ocean Engineering".

Deadline for manuscript submissions: 5 August 2025 | Viewed by 4731

Special Issue Editors

Prof. Dr. Bing Li

E-Mail Website
Guest Editor
College of Intelligent System Science and Engineering, Harbin Engineering University, Harbin 150001, China
Interests: ship motion control; ship attitude control; servo control system
Special Issues, Collections and Topics in MDPI journals
Dr. Bowen Xing

E-Mail Website
Guest Editor
College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China
Interests: unmanned surface vehicles; ship motion control; path planning
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue focuses on the motion control and path planning of marine vehicles. Recently, more and more marine vehicles have been designed and used on the surface, underwater, and seabed for detection, rescue, transportation, etc. In order to ensure the implementation of these applications, the intelligence and energy-saving property indicators of their motion control and path planning policies should be satisfied at high levels.

This Special Issue is seeking high-quality original contributions, including technical papers that address the main research challenges related to the motion control and path planning of marine vehicles. Potential topics include, but are not limited to, the following:

  • Modeling and control of vessels and unmanned marine vehicles.
  • Path planning of vessels and unmanned marine vehicles.
  • Navigation systems of vessels and unmanned marine vehicles.
  • Identification and estimation in vessels and unmanned marine vehicles.
  • Cooperative and coordinated control of vessels and unmanned marine vehicle swarms.
  • Multidevice collaborative operation of deep-sea mining systems.
  •  Ice-breaking operation of arctic vessels.
  • Unmanned marine vehicle swarm design and mission applications.
  • Other control and path planning applications in marine systems.

Articles from academia are welcome. This Special Issue aims to advance the fields of motion control and the path planning of marine vehicles, as well as related fields.

Prof. Dr. Bing Li
Dr. Bowen Xing
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • marine vehicle
  • unmanned ocean vehicle
  • deep-sea mining system
  • new energy ships
  • arctic vessel
  • unmanned marine vehicle swarm
  • motion control
  • path planning
  • autonomous
  • learning and AI
  • cooperation and coordination

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Further information on MDPI's Special Issue policies can be found here.

Related Special Issues

Published Papers (5 papers)

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Research

23 pages, 4949 KiB  
Article
Three-Dimensional Dynamic Trajectory Planning for Autonomous Underwater Robots Under the PPO-IIFDS Framework
by Liqiang Liu, Min Sun, Enjiao Zhao and Kuang Zhu
J. Mar. Sci. Eng. 2025, 13(3), 445; https://doi.org/10.3390/jmse13030445 - 26 Feb 2025
Viewed by 415
Abstract
Three-dimensional (3D) dynamic trajectory planning for Autonomous Underwater Vehicles (AUVs) is associated with significant challenges such as balancing the trajectory quality, computational efficiency, and environmental adaptability within complex dynamic environments. To tackle these challenges, this paper proposes a novel trajectory planning framework by [...] Read more.
Three-dimensional (3D) dynamic trajectory planning for Autonomous Underwater Vehicles (AUVs) is associated with significant challenges such as balancing the trajectory quality, computational efficiency, and environmental adaptability within complex dynamic environments. To tackle these challenges, this paper proposes a novel trajectory planning framework by integrating Proximal Policy Optimization (PPO) and an Improved Interfered Fluid Dynamic System (IIFDS). The IIFDS serves as the planning layer, generating obstacle-adaptive trajectories for AUVs through the dynamic adjustment of flow field parameters. Meanwhile, PPO functions as the learning and decision-making layer, optimizing critical parameters in IIFDS, including repulsion response coefficients, tangential response coefficients, and directional coefficients, to enhance adaptability and real-time decision-making. To meet specific mission requirements, the IIFDS incorporates dynamics and kinematics constraints, while the PPO reward function is improved with a multi-objective dynamic structure. This reward design integrates objectives such as obstacle avoidance, target distance minimization, trajectory smoothness, dynamics constraints, and energy efficiency. These enhancements address sparse reward issues effectively and significantly improve the convergence and practical applicability of trajectory planning. Additionally, a diverse and dynamically complex obstacle environment is constructed for model training and performance evaluation. The experimental results demonstrate that the proposed framework efficiently generates smooth, energy-efficient, and collision-free trajectories in high-density dynamic obstacle scenarios. The framework exhibits strong robustness, excellent generalization capabilities, and offers a reliable solution for 3D dynamic trajectory planning for AUVs. Full article
(This article belongs to the Special Issue Motion Control and Path Planning of Marine Vehicles—3rd Edition)
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25 pages, 5967 KiB  
Article
AUV Online Path Planning Strategy Based on Sectorial Gridded Detection Area
by Yang Liu, Jinxi Sun, Guojie Li and Xiujun Xu
J. Mar. Sci. Eng. 2025, 13(3), 443; https://doi.org/10.3390/jmse13030443 - 26 Feb 2025
Viewed by 431
Abstract
In this study, an online path planning strategy capable of traversing narrow passages is proposed for an autonomous underwater vehicle equipped only with forward-looking sonar in unknown environments. First, to establish the environment model, the sonar fan-shaped detection area is subdivided into multiple [...] Read more.
In this study, an online path planning strategy capable of traversing narrow passages is proposed for an autonomous underwater vehicle equipped only with forward-looking sonar in unknown environments. First, to establish the environment model, the sonar fan-shaped detection area is subdivided into multiple sectorial grids. Then, a comprehensive cost function combining safety, smoothness, and cost is utilized to generate the optimal heading. Furthermore, to safely pass through narrow passages, a sequence of subgoals for polynomial trajectory planning are determined on the perpendicular bisector ahead of the central line. The simulation results demonstrate the effectiveness of the proposed strategy, which determines the optimal heading through fan-shaped grid costs and generates a safe and smooth path. The AUV can achieve more safety navigating in obstructed areas and narrow passages. Full article
(This article belongs to the Special Issue Motion Control and Path Planning of Marine Vehicles—3rd Edition)
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20 pages, 6803 KiB  
Article
Attitude Practical Stabilization of Underactuated Autonomous Underwater Vehicles in Vertical Plane
by Yuliang Wang, Han Bao, Yiping Li and Hongbin Zhang
J. Mar. Sci. Eng. 2024, 12(11), 1940; https://doi.org/10.3390/jmse12111940 - 30 Oct 2024
Viewed by 938
Abstract
Due to the singularity of Euler angles and the ambiguity of quaternions, to further expand the attitude reachable range of underactuated AUVs in the vertical plane, SO(3) is used to represent the attitude change of underactuated AUVs. The transverse [...] Read more.
Due to the singularity of Euler angles and the ambiguity of quaternions, to further expand the attitude reachable range of underactuated AUVs in the vertical plane, SO(3) is used to represent the attitude change of underactuated AUVs. The transverse function of the attitude on SO(3) is designed, and the exponential mapping method is used to construct the attitude kinematic controller of underactuated AUVs. Considering the changes in the model and ocean current during motion, interval type II fuzzy systems (IT2-FLSs) are used to estimate these changes. The backstepping method and the small gain theorem are adopted to design dynamic controllers to ensure the stability and robustness of the system. A novel saturation auxiliary system is designed to compensate for the influence of actuator saturation characteristics. Finally, the simulation results verify the effectiveness of the proposed controller and ensure the practical stabilization of the underactuated AUV attitude. Full article
(This article belongs to the Special Issue Motion Control and Path Planning of Marine Vehicles—3rd Edition)
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27 pages, 8025 KiB  
Article
Exploring Innovative Methods in Maritime Simulation: A Ship Path Planning System Utilizing Virtual Reality and Numerical Simulation
by Bing Li, Mingze Li, Zhigang Qi, Jiashuai Li, Jiawei Wu and Qilong Wang
J. Mar. Sci. Eng. 2024, 12(9), 1587; https://doi.org/10.3390/jmse12091587 - 8 Sep 2024
Viewed by 1474
Abstract
In addressing the high costs, inefficiencies, and limitations of purely digital simulations in maritime trials for unmanned vessel path planning, this paper introduces a ship virtual path planning simulation test system. This system, unbound by temporal and spatial constraints, vividly showcases the navigational [...] Read more.
In addressing the high costs, inefficiencies, and limitations of purely digital simulations in maritime trials for unmanned vessel path planning, this paper introduces a ship virtual path planning simulation test system. This system, unbound by temporal and spatial constraints, vividly showcases the navigational performance of vessels. After analyzing the virtual testing requirements for the autonomous navigation performance of unmanned surface vehicles (USVs), we established the overall framework of this system. Data-driven by a numerical simulation platform, the system achieves synchronized operation between physical and virtual platforms and supports interactive path planning simulations between USVs and the virtual testing system. Furthermore, to address the limitations of traditional ship trajectory planning evaluation, this paper develops a global path planning fitness evaluation function that comprehensively considers trajectory safety, navigation distance, and vessel stability, achieving optimal comprehensive routes through the particle swarm optimization algorithm. Test results indicate an average roll reduction of 14.31% in the planned routes, with a slight increase in navigation distance. By integrating two-dimensional curve simulation with three-dimensional visualization, this paper not only overcomes the limitations of purely physical and purely virtual simulations but also enhances the overall credibility and intuitiveness of the simulation. Experimental results validate the system’s effectiveness, providing a novel method for autonomous navigation testing and evaluation of USVs. Full article
(This article belongs to the Special Issue Motion Control and Path Planning of Marine Vehicles—3rd Edition)
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16 pages, 356 KiB  
Article
Design of a Trajectory Tracking Controller for Marine Vessels with Asymmetric Constraints Using a New Universal Barrier Function
by Tan Zhang, Gang Zhang and Jinzhong Zhang
J. Mar. Sci. Eng. 2024, 12(9), 1545; https://doi.org/10.3390/jmse12091545 - 4 Sep 2024
Cited by 1 | Viewed by 792
Abstract
This article introduces an innovative trajectory tracking control methodology for a marine vessel with disturbances. The vessel is driven to track a predetermined trajectory while preventing the constraint violation of the position error. A universal barrier Lyapunov function (BLF) is, for the first [...] Read more.
This article introduces an innovative trajectory tracking control methodology for a marine vessel with disturbances. The vessel is driven to track a predetermined trajectory while preventing the constraint violation of the position error. A universal barrier Lyapunov function (BLF) is, for the first time, established to resolve the variable constraint. It should be emphasized that the devised barrier function can handle constraint types including time-varying, time-invariant, symmetric, and asymmetric forms, and it can be employed to devise control schemes for unconstrained systems. Consequently, in comparison to the current BLF-based techniques for vessels, it can be flexible for dealing with practical control issues with or without constraints. A simplified disturbance observer performs estimations of ocean disturbances. It is proven that all the error variables can be exponentially stabilized to a small neighborhood close to the equilibrium point, while violations of the constraints on the position error never occur. The feasibility of the theoretical discoveries is shown by the outcomes of the final simulation. Full article
(This article belongs to the Special Issue Motion Control and Path Planning of Marine Vehicles—3rd Edition)
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