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Towards the Use of a Team of USVs for Civilian Harbour Protection : Real Time Path Planning with Avoidance of Multiple Moving Obstacles

The security issue within civilian harbours has received an increasing interest, especially after the September 11 terrorist attack. Different kind of surveillance equipments and defense strategies are currently under investigation. In this context, the use of a team of Unmanned surface vehicles (USVs) for performing patrolling surveys and intercepting possible intruders could be very useful for increasing the effectiveness of the harbor protection system while lowering the number of humans directly exposed to threats. In order to guarantee a sufficient level of reliability, all the USVs operations need to be supervised by an intelligent Swarm Management Unit (SMU), whose realization is the goal of an on-going research project carried out by the authors’ organizations. This work presents one of the recent results of the SMU project, i.e. a real-time motion planner producing USVs reference paths guaranteeing minimal-time trajectories in the presence of multiple moving obstacles.