基于改进A^(*)算法的水面无人艇路径规划

Path planning for unmanned surface vessels based on improved A^(*) algorithm

为解决水面无人艇(unmanned surface vessel,USV)在碍航物比较密集水域的全局路径规划问题,提出一种基于改进A^(*)算法的路径规划方法。利用像素阈值法剔除船载雷达图像中的冗余信息,并使用栅格法进行环境建模;提出节点碍航物检测法,用于优化无人艇路径规划,同时改进评价函数来减少遍历的节点总数;对规划路径上的冗余节点进行平滑处理。仿真结果表明:相较于A^(*)算法,本文提出的改进A^(*)算法能够确保USV远离碍航物,且算法遍历节点总数和规划路径上的转折点都较少。

To address the global path planning issue of unmanned surface vessels(USVs)in waters with dense obstacles,this paper proposes a path planning method based on the improved A^(*)algorithm.The redundant information of shipborne radar images is removed by the pixel threshold method,and the grid method is used to carry out the environment modeling.The node obstacle detection method is proposed to optimize the path planning of USVs,and the evaluation function is improved to reduce the total number of traversal nodes.The redundant nodes on the planned path are smoothed.The simulation results show that,compared with A^(*)algorithm,the proposed improved A^(*)algorithm can ensure that USVs are away from obstacles,the total number of traversal nodes is fewer,and the turning nodes on the planned path are fewer.