改進(jìn)A-star算法的無(wú)人船動(dòng)態(tài)路徑規(guī)劃

打開文本圖片集

中圖分類號(hào)： TP391 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.07.24

Abstract： In order to solve the problems of multiple turning points， poor path safety，and limited application of traditional A-star algorithms in dynamic environments in unmanned ship dynamic path planning， an improved A-star algorithm is proposed.Firstly，this method modifies the storage method of open-list and increases the direction of neighborhood search to flexibly adjust the direction of unmanned ships and improve their adaptability in dynamic environments. Secondly，by introducing a straight-line guidance function and a safety distance cost formula，the path planning process is effectively optimized to avoid unnecessary path detours and colision risks. Finally，by focusing on search methods，the oscilation and repeated motion of unmanned ship are reduced.The simulation results show that the improved A-star algorithm can avoid dynamic obstacles， and compared with other dynamic path planning algorithms，the improved A-star reduces path length by 4.88% （20 and 0.09% ， and smoothness by 37.32% and 23.17% . The improved algorithm can generate smoother and safer paths，suitable for dynamic path planning of unmanned ships.

Keywords： path planning；unmanned ship；A-star algorithm； ocean cruise； dynamic path planning

0 引言

僅提高了任務(wù)執(zhí)行的效率和安全性，還推動(dòng)了海洋技術(shù)的發(fā)展，具有廣泛的經(jīng)濟(jì)和社會(huì)效益。（剩余19969字）