A system and method of planning a path for an autonomous vessel

摘要

Disclosed is a path planning method for an autonomous marine vessel, comprising: obtaining a primary path of travel for the vessel; obtaining drift conditions for the vessel travelling along the primary path; determining a modified primary path which represents the primary path adjusted with the drift conditions; determining whether the modified primary path is navigable within predetermined motion constraints of the vessel; and, providing the primary path as the path for the vessel if the modified primary path is navigable within the predetermined motion constraints of the vessel.