Session: 08-06-01 non-presentations

Paper Number: 126531

126531 - Research on the Traversal Path Planning Algorithm of Unmanned Surface Vessels in Complex Waters Based on the Insertion A-Star Algorithm 

Unmanned Surface Vehicle is widely used in water patrol, water quality detection, fishery aquaculture, mine detection and other fields. The efficiency of traversal path planning algorithm directly affects the traversal task of unmanned craft, especially the traversal path of complex waters. The traditional ergodic path planning algorithm is dominated by A-STAR algorithm, which has A good performance in simple sea areas and has the advantages of simple structure and high success rate of ergodic coverage. However, in complex water areas, the number of areas left over after the first traversal is too large. In order to achieve the task of ergodic coverage, the algorithm is repaired by way of return repair. As a result, the planning path algorithm has many problems, such as heavy computation, high path repetition and low traversal efficiency. In this paper, an interpolated A-Star algorithm is proposed on the basis of the traditional A-Star algorithm. On the basis of the initial traversal planning path of the A-Star algorithm, the algorithm independently does traversal planning for scattered missing areas, and then connects the traversal planning path of scattered missing areas to the traversal planning path main line of the whole region through the adjacent-point insertion method. The traversal path planning algorithm of unmanned craft in complex waters based on the plug-in A-STAR algorithm alleviates the problem that A-STAR algorithm requires A lot of computation for the traversal backtracking of raster map, and avoids the defect of the traditional A-STAR algorithm with high repetition rate. Simulation results show that the interpolated A-Star algorithm not only realizes the traversal path planning of complex waters effectively, but also can jump out of the dead corner with the shortest route, which has the advantages of large coverage, small repetition rate and strong practicability.

Presenting Author: Zhenyu Yuan Wuhan University of Technology

Presenting Author Biography: Zhenyu Yuan is an undergraduate majoring in shipbuilding and ocean Engineering at Wuhan University of Technology. With excellent academic performance, he has participated in many scientific innovation competitions and has excellent performance in algorithm design and software development.

Authors:

Zhenyu Yuan Wuhan University of Technology
Rong Guo Wuhan University of Technology