Path planning of unmanned ships based on A and dynamic window approach

The coastline raid task requires an unmanned surface ship to carry out precise, fixed-point raids in a complex coastal environment. The terrain of the coastal area is highly varied, with static obstacles such as reefs and shoals, as well as moving obstacles like floating objects at sea. Moreover, th...

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Bibliographic Details
Published in智能科学与技术学报 Vol. 7; pp. 184 - 199
Main Authors FU Long, SHEN Zhen, TAO Hao, HAN Yunjun, DONG Xisong, XIONG Gang
Format Journal Article
LanguageChinese
Published POSTS&TELECOM PRESS Co., LTD 01.06.2025
Subjects
A algorithm
coastline raid
dynamic window approach
path planning
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ISSN2096-6652

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Summary:The coastline raid task requires an unmanned surface ship to carry out precise, fixed-point raids in a complex coastal environment. The terrain of the coastal area is highly varied, with static obstacles such as reefs and shoals, as well as moving obstacles like floating objects at sea. Moreover, the task must be completed within a strict time frame. Therefore, real-time, safe, and accurate path planning for the unmanned surface ship is crucial. To address the challenge of balancing global optimization, efficiency, and safety in path planning, a method that integrates global search and local optimization was proposed, based on the A* algorithm and the dynamic window approach (DWA). The A* algorithm computed the global shortest path in a static environment, while the improved DWA optimized local path obstacle avoidance between path nodes. The A* algorithm was enhanced by incorporating a heuristic function with dynamic exponential decay weighting, which reduced the running time and exploration space for global
ISSN:2096-6652