Dr. Xiaoxiao Zhu

Global route planning is a pivotal function of unmanned surface vehicles (USVs). For ships, the safety of navigation is the priority. This paper presents the VK-RRT* algorithm as a way of designing the planned route automatically. Different from other algorithms or studies, this study employs electronic navigation chart (ENC) vector data instead of grid maps as the basis of the search, which reduces data error when converting the vector map into the grid map. In addition, Delaunay triangulation is employed to organize vector data, in which the depth value is taken as a factor to ensure the safety of the planning route. Furthermore, the initial planned route is not suitable for ship tracking as it does not consider the ship motion characteristics. Therefore, the planned route needs to be further optimized. In the final part, we also conducted experiments to verify the effectiveness and advantages of the proposed algorithm. The results show that the proposed algorithm could reduce the lengths of paths by about 23% on average and save planning time; these are largely dependent on the environment.

About Me

Dr. Xiaoxiao Zhu Associate Professor， College of Mechanical and Transportation Engineering, University of Petroleum, Beijing, China No.18 Fuxue Road, Changping District, Beijing, China, 102249 Email: x.zhu@cup.edu.cn Dr. Zhu's current focus is on the dynamics of pigging in oil and gas pipelines. His projects mainly focus on the problems and solutions of the mechanics related to onshore and offshore pipeline pigging. Dr. Zhu’s research interests also cover the algorithm for ship or vehicle route planning. Education • 2011/9 -2014/9, Ph.D. from College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing, China • 2013/9-2014/9, Visiting student from Division of Process and Flow Assurance, School of Engineering, Cranfield University, UK • 2005/9-2009/7, Bachelor from Machine design manufacture and automation, Huazhong Agricultural University, Wuhan, China Previous Teaching / Working Experience • 2017.7-, Associate Professor, College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing, China, • 2014.9-2017.6, Lecturer, College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing, China

Dr. Xiaoxiao Zhu

Dr. Xiaoxiao Zhu

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About Me