Path Planning and Tracking of Amphibious Vehicles Based on Improved A* Algorithm
Bin Wang, Xiaotian Gao, Dongze Tian · 2024
The Path planning and tracking technology is one of the key technologies which ensure amphibious unmanned vehicles to complete tasks successfully. To solve the problem of excessive path points generated by A*algorithm, rendering it impractical for use in path tracking directly, an efficient improved A*algorithm is proposed in this paper to generate smooth paths. Due to big differences between water and land scenes, this paper adopts two different models in water and land environments for path tracking. The simulation results show that the algorithm effectively reduces the number of path points and path length, while ensuring that the generated path enables amphibious vehicles to track with high precision.