Hierarchical Trajectory Planning for Reconfigurable Multi-USV Platform

This paper presents a hierarchical framework that integrates path planning and trajectory optimization to achieve the reconfiguration of a platform composed of multiple unmanned surface vehicles (USV). Firstly, the equivalent obstacle models and the feasible regions are obtained by the Minkowski sum. Then, a path planner based on Dijkstra algorithm is used to obtain the optimal path nodes from the boundaries of the feasible regions. On this basis, trajectory optimization is conducted by quadratic programming to obtain the optimal trajectory with the minimum snap under various constraints. Finally, the feasibility of the proposed method is validated through simulation.