基于改进A^(*)算法的无人船全局路径规划的研究

Research on Global Path Planning of Unmanned Ships Based on Improved A^(*)Algorithm

A^(*)算法作为经典的路径规划算法,由于其算法思想简单而被广泛应用,但栅格地图中栅格较多时路径规划所需要遍历的结点众多、路径搜索存在效率低下等问题,导致规划出全局最优路径时间较长。本文针对A^(*)算法存在的缺点提出一种圆弧距离法优化A^(*)算法并在MATLAB上进行仿真验证优化后算法的可行性,实验结果表明优化后的A^(*)算法在路径平滑性相当的情况下可以减少路径规划所花费的代价值且可以提高路径规划快速性。

A^(*)algorithm as a classical path planning algorithm,widely used due to the simplicity of its algorithmic ideas,but the raster map when there are more rasters in the path planning need to traverse a large number of nodes,path search inefficiency and other problems,resulting in planning the global optimal path time is long.In this paper,we propose a circular distance method to optimize the A^(*)algorithm to address the shortcomings of the A^(*)algorithm and conduct simulations on MATLAB to verify the feasibility of the optimized algorithm.The experimental results show that the optimized A^(*)algorithm can reduce the generation value spent on path planning and improve the speed of path planning with comparable path smoothness.