Global Path Planning for USV Using A-Star Algorithm with Modified Heuristic Function
Shengxuan Zheng, Liang Luo, Yuqing Xiao · 2024
The traditional A-star algorithm searches for paths with too much detour. This article aims to address this issue by establishing a rectangle with the line connecting the current point and the target point as the diagonal. The square of the slope$k$of the diagonal of the rectangle is introduced as the correction coefficient of Mann heuristic function to obtain a preliminary planning path. Then, we need to optimize and merge it, and use cubic splines for trajectory smoothing. The simulation results show that the improved method can plan a path that is approximately close to the line connecting the starting point to the target point.