基于改进A*算法的水下航行器自主搜索航迹规划

Research of Underwater Autonomous Search Path Planning Based on Improved A* Algorithm

以水下航行器在水下路径规划为研究重点,提出了基于改进型A*算法的水下无人航行器自主搜索航迹规划算法。一般航迹规划可由多种算法完成,而在这些算法中以A*的计算流程最为简单、算法易于实现,并在理论上可保证全局最优解的收敛性;且程序较为简短,可在一些低功耗、低主频的系统中应用。由于传统的A*算法不具备最小转弯半径等约束条件,因此,针对水下航行器高低速问题,对传统的A*算法进行改进,使得A*算法可实现高速与低速相结合的应用。

This paper studies the underwater path planning of the underwater vehicle. It puts forward an underwater unmanned underwater vehicle autonomous search path planning algorithm based on the improved A＊algorithm.The general path planning can be done by a variety of algorithms. Among them,the A＊algorithm is simple and easy to realize,and can theoretically guarantee the convergence of the global optimal solution; and its program is simple,so that it can be used in the system of low power consumption and low frequency. Because the traditional A＊algorithm does not have the minimum turning radius and other constraints,we improve the traditional A＊algorithm since underwater vehicles run either at a high or at a low speed,so that it can be applied in both cases.