Advanced trajectory planning for obstacle avoidance of multiple unmanned marine vehicles (MUMVs)

In this paper we present our work and results in the framework of obstacle avoiding for marine vehicle teams by means of trajectory planning. Based on a team of maritime systems, such as Autonomous Underwater Vehicles (AUVs) or Autonomous Surface Vehicles (ASVs), which are intended to perform a preplanned mission in a given formation topology, methods for trajectory planning are investigated which guarantee for both obstacle-free paths and formation preservation. The proposed solution contains advanced graph search and trajectory smoothing to generate executable path for the vehicles