Global Path Planning of Unmanned Surface Vehicle Based on Improved A-Star Algorithm

Abstract

To make unmanned surface vehicles that are better applied to the field of environmental monitoring in inland rivers, reservoirs, or coasts, we propose a global path-planning algorithm based on the improved A-star algorithm. The path search is carried out using the raster method for environment modeling and the 8-neighborhood search method: a bidirectional search strategy and an evaluation function improvement method are used to reduce the total number of traversing nodes; the planned path is smoothed to remove the inflection points and solve the path folding problem. The simulation results reveal that the improved A-star algorithm is more efficient in path planning, with fewer inflection points and traversing nodes, and the smoothed paths are more to meet the actual navigation demands of unmanned surface vehicles than the conventional A-star algorithm.