Mission Planning

Learn how to create and manage complex USV missions.

Mission Types

1. Waypoint Mission

The most commonly used mission type, where USV visits specified waypoints in sequence.

Use Cases:

• Water quality sampling
• Patrol monitoring
• Data collection

Example:

mission:
  type: "waypoint"
  waypoints:
    - lat: 31.2304
      lon: 121.4737
      altitude: 0
      speed: 5

2. Area Survey

Cruise within a specified area in a defined pattern.

Survey Patterns:

• Grid pattern
• Spiral pattern
• Snake pattern

Example:

mission:
  type: "area_survey"
  area:
    type: "polygon"
    coordinates:
      - [31.2304, 121.4737]
      - [31.2354, 121.4787]
      - [31.2404, 121.4787]
      - [31.2354, 121.4737]

  pattern: "grid"
  spacing: 50              # meters
  angle: 0                 # degrees

3. Path Following

Follow a predefined continuous path.

Use Cases:

• River inspection
• Pipeline detection
• Channel surveying

Example:

mission:
  type: "path_following"
  path:
    type: "line"           # line, curve, spline
    points:
      - [31.2304, 121.4737]
      - [31.2324, 121.4757]
      - [31.2344, 121.4777]

  speed: 5
  tolerance: 2             # meters

4. Target Tracking

Automatically track moving targets.

Use Cases:

• Vessel tracking
• Floating object monitoring

Example:

mission:
  type: "target_tracking"
  target:
    id: "target-001"
    type: "vessel"

  tracking:
    distance: 50           # Maintain distance (meters)
    update_rate: 1         # Hz
    max_speed: 10          # knots

Mission Planning Tools

Web Planner

Use the Web interface for visual planning:

1. Open console: http://localhost:8080/planner
2. Select mission type
3. Mark waypoints or areas on the map
4. Set parameters
5. Preview path
6. Save mission

Command Line Planning

Use CLI tools to create missions:

# Create waypoint mission
jhusv mission create waypoint \
  --name "water_survey" \
  --waypoint 31.2304,121.4737 \
  --waypoint 31.2354,121.4787 \
  --speed 5

# Create area survey
jhusv mission create area \
  --name "harbor_patrol" \
  --area area.geojson \
  --pattern grid \
  --spacing 50

Python API

Use Python programming to create missions:

from jhusv import Mission, Waypoint

# Create mission
mission = Mission(name="water_quality_survey")

# Add waypoints
wp1 = Waypoint(lat=31.2304, lon=121.4737, speed=5)
wp1.add_action("sample", duration=60)

wp2 = Waypoint(lat=31.2354, lon=121.4787, speed=5)
wp2.add_action("photo")

mission.add_waypoints([wp1, wp2])

# Set mission parameters
mission.set_auto_return(True)
mission.set_max_time(3600)

# Save mission
mission.save("water_survey.yaml")

Advanced Features

Conditional Actions

Execute different actions based on conditions:

waypoints:
  - lat: 31.2304
    lon: 121.4737
    actions:
      - type: "conditional"
        condition: "water_temp > 25"
        then:
          - type: "sample"
            duration: 120
        else:
          - type: "sample"
            duration: 60

Loop Missions

Repeat mission execution:

mission:
  type: "waypoint"
  loop:
    enabled: true
    count: 3               # Repeat count (0 = infinite)
    interval: 600          # Loop interval (seconds)

Dynamic Waypoints

Dynamically add waypoints during mission execution:

from jhusv import MissionController

controller = MissionController()

# Add waypoint during execution
new_waypoint = Waypoint(lat=31.2404, lon=121.4837)
controller.insert_waypoint(new_waypoint, index=2)

Mission Optimization

Path Optimization

Optimize waypoint order to reduce distance:

jhusv mission optimize \
  --input mission.yaml \
  --algorithm tsp \
  --output optimized.yaml

Time Estimation

Estimate mission completion time:

jhusv mission estimate mission.yaml

Output:

Total Distance: 2.5 km
Average Speed: 5 knots
Estimated Time: 27 minutes
Battery Usage: 35%

Safety Planning

Geofence

Limit USV operating area:

geofence:
  enabled: true
  mode: "hard"             # hard (strict), soft (warning)

  polygon:
    - [31.2304, 121.4737]
    - [31.2354, 121.4787]
    - [31.2404, 121.4837]
    - [31.2354, 121.4887]

  action: "return_home"    # Action when outside fence

Obstacle Avoidance

Automatic obstacle avoidance configuration:

obstacle_avoidance:
  enabled: true
  detection_range: 30      # meters
  safety_distance: 15     # meters

  sensors:
    - type: "sonar"
      enabled: true
    - type: "camera"
      enabled: true

  strategy: "potential_field"  # potential_field, rrt, apf

Best Practices

Pre-planning Checklist

✅ Must Do:

• Check weather forecast
• Confirm sufficient battery
• Verify geofence settings
• Test communication connection
• Check sensor status

Mission Design Principles

1. Waypoint Spacing: Recommended > 50m
2. Speed Setting: Adjust according to sea conditions (3-8 knots)
3. Mission Time: Reserve 30% margin
4. Data Sampling: Avoid excessive frequency (recommended ≤ 10Hz)

Testing Workflow

# 1. Validate mission file
jhusv mission validate mission.yaml

# 2. Preview mission path
jhusv mission preview mission.yaml

# 3. Simulate execution
jhusv mission simulate mission.yaml --duration 60

# 4. Execute
jhusv mission start mission.yaml

Next Steps

• 📊 Learn about data management
• 🔌 Explore Control API
• 🛠️ Check troubleshooting