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Volume 27 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(6): 695-703
LÜ Xia-fu, CHENG Qi-zhong, LI Sen-hao, LIN Zheng. Unmanned Surface Vehicle Full Traversal Path Planning Based on Improved A* Algorithm[J]. Journal of Unmanned Undersea Systems, 2019, 27(6): 695-703. doi: 10.11993/j.issn.2096-3920.2019.06.014
Citation: LÜ Xia-fu, CHENG Qi-zhong, LI Sen-hao, LIN Zheng. Unmanned Surface Vehicle Full Traversal Path Planning Based on Improved A* Algorithm[J]. Journal of Unmanned Undersea Systems, 2019, 27(6): 695-703. doi: 10.11993/j.issn.2096-3920.2019.06.014
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Unmanned Surface Vehicle Full Traversal Path Planning Based on Improved A* Algorithm

doi: 10.11993/j.issn.2096-3920.2019.06.014

  • Chongqing University of Posts and Telecommunications, Key Laboratory of Industrial Internet of Things & Network Control, Ministry of Education, Chongqing 400065, China

  • Received Date: 2019-03-09
  • Rev Recd Date: 2019-04-04
  • Publish Date: 2019-12-31
    Abstract
  • To improve the efficiency and universality of full traversal path planning algorithm for unmanned surface vehicle(USV) in complex environment, a new full traversal path planning algorithm based on the improved A* algorithm is proposed. Firstly, user publishes the task area through the electronic map interface of the host computer in ground station, and converts the task area into a grid map. Then, the grid map is traversed through the inner spiral algorithm. Finally, when the USV is going into the dead angle, optimal path is searched through the improved A* algorithm, and the escape dead angle is traversed until all the reachable areas are traversed. Simulation results show that compared with the existing full traversal optimization method, the proposed algorithm reduces the planned path steps from 814 to 784, and improves the repetition rate from 7.8% to 3.98%. The algorithm improves the performance and has a good application prospect.

     

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