Voronoi-visibility roadmap-based path planning algorithm for unmanned surface vehicles

Hanlin Niu, Al Savvaris, Antonios Tsourdos, Ze Ji

Research output: Contribution to journalArticlepeer-review


In this paper, a novel Voronoi-Visibility (VV) path planning algorithm, which integrates the merits of a Voronoi diagram and a Visibility graph, is proposed for solving the Unmanned Surface Vehicle (USV) path planning problem. The VM (Voronoi shortest path refined by Minimising the number of waypoints) algorithm was applied for performance comparison. The VV and VM algorithms were compared in ten Singapore Strait missions and five Croatian missions. To test the computational time, a high-resolution, large spatial dataset was used. It was demonstrated that the proposed algorithm not only improved the quality of the Voronoi shortest path but also maintained the computational efficiency of the Voronoi diagram in dealing with different geographical scenarios, while also keeping the USV at a configurable clearance distance c from coastlines. Quantitative results were generated by comparing the Voronoi, VM and VV algorithms in 2,000 randomly generated missions using the Singapore dataset.
Original languageEnglish
JournalJournal of Navigation
Issue number850-874
Early online date24 Jan 2019
Publication statusPublished - 2019


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