%0 Journal Article %A LIU Lezhu %A WEN Yuanqiao %A XIAO Changshi %T Motion planning algorithm for unmanned surface vehicle based on Dubins path %D 2017 %R 10.11772/j.issn.1001-9081.2017.07.2114 %J Journal of Computer Applications %P 2114-2117 %V 37 %N 7 %X Aiming at the problem of motion planning for unmanned surface vehicle, a new method of calculating Dubins path by using pure geometric method was proposed by the theoretical analysis of Dubins path. The operation of solving equations was not used by the proposed method. Firstly, the steering circle was calculated according to the motion state of the unmanned surface vehicle. Then, the geometric method was used to compute the common tangent of the steering circles. Finally, the Dubins path was obtained by the common tangent connection. The effectiveness of the proposed method was verified through five groups of simulation experiments. All kinds of situations in the process of calculating the Dubins path were designed in the first four simulation experiments, the proposed algorithm was verified to be applicable to a variety of Dubins path calculation. The last experiment of simulations was used for path planning and motion state adjustment of unmanned surface vehicle. The simulation results show that the motion planning algorithm based on Dubins path is feasible. %U http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2017.07.2114