Research on UUV path planning method based on bidirectional A* algorithm
Xueman Fan, Changyou Xue, Hangcheng Zhou · 2022
The efficient and reliable route planning of unmanned underwater vehicle (UUV) is very important for its safe avoidance of obstacles and successful completion of tasks. Aiming at the problem that the standard A* algorithm is easy to fall into local minima, and the planning efficiency is low, which leads to low real-time performance, the bidirectional A* algorithm, which searches the path from the first point and the end point at the same time, is used for UUV path planning. Besides, aiming at the problem that the fidelity of the two- dimensional simulation environment is not high and it is difficult to depict the obstacle information in three-dimensional, the three-dimensional route planning scene is further constructed to test the performance of algorithms. The simulation results show that compared with the standard A* algorithm, the bidirectional A* algorithm can better take into account the efficiency and quality, and the planned path is safe and reasonable, meeting the obstacle avoidance requirements of UUV in three- dimensional space.