Journal of Computer Applications ›› 2020, Vol. 40 ›› Issue (11): 3373-3378.

• Frontier & interdisciplinary applications •

### Multi-directional path planning algorithm for unmanned surface vehicle

1. School of Automation, Wuhan University of Technology, Wuhan Hubei 430070, China
• Received:2020-04-07 Revised:2020-06-01 Online:2020-11-10 Published:2020-08-03
• Supported by:
This work is partially supported by the Excellent Dissertation Cultivation Fund of Wuhan University of Technology (2018-YS-065).

### 多方向无人水面艇路径规划算法

1. 武汉理工大学 自动化学院, 武汉 430070
• 通讯作者: 张华军(1980-),男,湖北武汉人,副教授,博士,主要研究方向:智能控制、机器学习;zhanghj@whut.edu.cn
• 作者简介:童心赤(1997-),男,湖南湘潭人,硕士研究生,主要研究方向:智能控制、路径规划;郭航(1995-),男,湖北荆州人,硕士研究生,主要研究方向:智能控制、人工智能
• 基金资助:
武汉理工大学研究生优秀学位论文培育项目（2018-YS-065）。

Abstract: Aiming at the safety and smoothness problems of path planning for Unmanned Surface Vehicle (USV) in complex marine environment, a multi-directional A* path planning algorithm was proposed for obtaining global optimal path. Firstly, combining the electronic chart, the rasterized environment information was established, and a safe area model of USV was established according to the safety nevigation distance constraint. And the A* heuristic function with safety distance constraint was designed based on the traditional A* algorithm to ensure the safety of the generated path nodes. Secondly, a multi-directional search mode was proposed by improving the eight-directional search mode of the traditional A* algorithm to adjust the redundant points and inflection points in the generated path. Finally, the path smoothing algorithm was used to smooth the inflection points to obtain the continuous smooth path that meets the actual navigation requirements. In the simulation experiment, the path distance planned by the improved A* algorithm is 7 043 m, which is 9.7%, 26.6% and 7.9% lower than those of Dijkstra algorithm, traditional A* four-directional search algorithm and traditional A* eight-directional search algorithm. The simulation results show that the improved multi-directional A* search algorithm can effectively reduce the path distance, and is more suitable for the path planning of USV.

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