Most of the present work for unmanned surface vehicle (USV) navigation does not take into account environmental disturbances\r\nsuch as ocean waves, winds, and currents. In some scenarios, waves should be treated as special case of dynamic obstacle and can\r\nbe critical to USV�s safety. For the first time, this paper presents unique concept facing this challenge by combining ocean waves�\r\nformulation with the probabilistic velocity obstacle (PVO) method for autonomous navigation. A simple navigation algorithm is\r\npresented in order to apply the method of USV�s navigation in presence of waves. A planner simulation dealing with waves and\r\nobstacles avoidance is introduced.
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