WCSE

Route Planning of Unmanned Surface Vehicle Based on Improved A-Star Algorithm

Abstract— Path planning is one of the important topics in the USV research field. Aiming at the path planning problem of surface unmanned boats in a known environment, this paper proposes an improved A* algorithm. For the problem that the traditional A* algorithm can only search in 8 directions, this paper analyzes the path obtained by the traditional A* algorithm. The principle of the shortest line segment between two points is used for further optimization, so that the USV can search in any direction within the feasible range. Finally, compared with the traditional algorithm, the multi-direction improved A* algorithm is verified by simulation, the number of path nodes obtained by the search is less, the path distance is shorter, and it has better search performance.

Index Terms— Nuclear power, power system, small modular reactor.

Shuang Huang
Wuhan second ship design and research institute Fifth design center
Xu Cao
Wuhan second ship design and research institute Fifth design center
Lei Wang
Wuhan University of Technology School of Automation
Mi Yan
Wuhan University of Technology School of Automation
Xin Luo
Wuhan University of Technology School of Automation
Yang Liu
Wuhan University of Technology School of Automation

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Cite: Shuang Huang, Xu Cao, Lei Wang, Mi Yan, Xin Luo, Yang Liu, " Route Planning of Unmanned Surface Vehicle Based on Improved A-Star Algorithm, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 573-580, Sanya, China, April 15-18, 2022.