Path planning method of unmanned ship based on PPO and DWA
Jiacheng Dai, Dayuan Chen, Shujie Yang · 2023
In order to solve the path planning problem of USV(unmanned surface vehicle), a global path planning method integrating global path and local path is proposed in this paper. First, the global path planning of grid electronic chart is carried out using two different reward modes of PPO(Proximal Policy Optimization Algorithms) algorithm, and the global optimal path is selected after comparison. Secondly, The inflection point on the global optimal path is selected as the key point of the DWA(dynamic window algorithm) to optimize the local path. The simulation results show that the method can take into account the requirements of high smoothness and short navigation distance, and plan a safe and reasonable route in the static environment.