An Improved A* Algorithm for AUV Path Planning
Qi Zhu, Qing Xiang, Limin Cai · 2024
In response to the problems of low search efficiency and a large number of redundant points traversed by the traditional A* algorithm in the path planning process of AUV, this article proposes an improved A* algorithm based path planning method for AUV. This method calculates the dynamic angle between the AUV and the target point at different positions, and dynamically measures the weight of the heuristic function; Then, a redundant point optimization strategy is adopted to optimize unnecessary redundant points and turning points in the path. The simulation experiment results show that, compared with the traditional A* algorithm, the heuristic improved A* algorithm based on redundant node optimization has reduced the number of searched nodes by 87.72%, 75.91%, and 85.75%, respectively, under three different starting and target points. The number of redundant nodes traversed by the algorithm has decreased by 9.09%, 33.33%, and 18.18%, indicating that the algorithm can effectively improve search efficiency and reduce the number of path turns.