基于A~*算法优化的无人水面艇路径规划

Path Planning of Unmanned Surface Vehicle Based on A~* Algorithm Optimization

为了解决A^*算法在无人水面艇路径规划中无约束条件导致的安全问题,提出一种对A*算法的搜索优化和平滑优化方法。首先,对电子海图数据中的海洋环境信息进行提取,采用栅格法建立路径搜索空间的海洋环境模型,并使用坐标对栅格统一编号;其次,引入安全距离约束对A^*算法进行搜索优化;最后,通过引入转向角约束,消除冗余节点达到平滑优化的效果。实验结果表明,通过对A*算法的优化处理,提高了无人水面艇路径规划的安全性,满足无人水面艇在复杂环境中全局路径规划的需求。

In order to solve the security problem caused by unconstrained conditions in the path planning of unmanned surface vehicle( USV) by A^*algorithm,a search and smoothness optimization method which is under the A^*algorithm was presented. Firstly,the marine environment information in the electronic chart data was extracted,then the model of marine environment of searching path space was established by the raster method,and the grid was numbered uniformly with coordinates. Secondly,the safe distance constraint was introduced to optimize the search of A^*algorithm. Finally,the steering angle constraint was introduced to eliminate redundant nodes to achieve smoothness optimization. The results of experiment show that through the optimization of A^*algorithm can improve the security of the path planning of USV and meet the requirements of global path planning of USV in complex environments.