The invention discloses a path
planning method,
system and device for an unmanned ship and a storage medium, and the method comprises the steps: 1, collecting the environmental parameters of an area in a pond, constructing a
global map, and inputting the geographic coordinates of a task area; setting bait
casting point distribution and adjusting navigation parameters; 2, acquiring a current position, delimiting a safe navigation boundary, and ensuring that subsequent movement does not exceed a preset range; 3, carrying out
route calculation based on an
algorithm fusing a dynamic weight mechanism and an adaptive cost function, and generating a global
route plan; according to global path planning, an overall driving
route from a starting point to a target point is generated based on known environment information, the local path module senses the surrounding environment in real time depending on a sensor carried by the unmanned ship,
dynamic data such as the obstacle position, the
water flow direction and the speed are obtained,
obstacle avoidance and course correction are achieved through rapid re-planning or behavior
decision making, and the unmanned ship is more intelligent. According to the mechanism, the calculation overhead caused by complete re-planning is avoided, and the problem that the local part falls into the local minimum is also prevented.