A Global Path Planning Method for USV Based on Improved A_Star Algorithm
Peng Wu · 2023
USVs(Unmanned Surface Vehicles) have developed rapidly and are widely used in various fields recently. However, the control system of USVs is underactuated, and conventional global path planning algorithms are not suitable for USVs. The existing A* algorithm has the following shortcomings in global path planning for USVs: the search neighborhood is not adjustable or the steering direction is unconstrained, and the path smoothness is poor and the search time for high-resolution grid map is too long. This paper proposes a global path planning method for USVs based on an improved A* algorithm. This method adds unmanned boat steering costs to the objective function, and dynamically adjusts the search step size during search, thereby achieving improved path smoothness while reducing path planning time.