Feedback motion planning of unmanned surface vehicles via random sequential composition

In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthesizing two different existing methodologies: sequential composition of dynamic behaviours and rapidly exploring random trees (RRT). The main motivation of this integrated solution is to develop a robust feedback-based and yet computationally feasible motion planning algorithm for USVs. In order to illustrate the main approach and show the feasibility of the method, we performed simulations and tested the overall performance and applicability for future experimental applications. We also tested the robustness of the method under relatively extreme environmental uncertainty. Simulation results indicate that our method can produce robust and computationally feasible solutions for a broad class of USVs.