Construction of Maritime Route Networks for USVs in Complex Waterways Based on Geometric Element Analysis

The construction of maritime route networks is crucial for the autonomous navigation of unmanned surface vehicles (USV), as it supports global coordination among multi-USV systems in narrow and interconnected waterways, thereby avoiding path conflicts and blockages. This paper proposes a method for constructing route networks based on geometric element analysis (RN-GEA). First, we simplify the complex geometric boundaries of waterways using point and line features. Next, an analysis of these geometric elements facilitates the identification of waterway intersections, which are designated as topological nodes. Finally, connectivity relationships between the nodes are established to create a global route network for complex waterways. By accurately characterizing the intersections of waterways, USV can select different routes at intersections, effectively alleviating path conflicts and blockage issues. The simulation results from specific areas of Qiandao Lake indicate that the route networks based on geometric element analysis (RN-GEA) can effectively construct maritime route networks in complex waterway conditions, offering support for the scheduling and management of multi-USV systems.