%A ZHUANG Jia-Yuan, SU Yu-Min, LIAO Yu-Lei, SUN Han-Bing %T Unmanned Surface Vehicle Local Path Planning Based on Marine Radar %0 Journal Article %D 2012 %J Journal of Shanghai Jiao Tong University %R %P 1371-1375 %V 46 %N 09 %U {https://xuebao.sjtu.edu.cn/CN/abstract/article_40108.shtml} %8 2012-09-28 %X To solve the local path planning problem of unmanned surface vehicle (USV), this paper designed a path planning method based on marine radar image processing. An image’s edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake，with an optimal path identified in a short time that could satisfy the experimental need．