Unmanned ship global path planning method based on improved A star algorithm

A technology for global path planning and unmanned boats, applied in navigation calculation tools, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve problems such as unmanned boat self-propelled technology needs to be improved, and achieve Avoid path uncertainty and jitter phenomena, reduce the effect of path nodes

Active Publication Date: 2020-04-24
SOUTHEAST UNIV
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Problems solved by technology

At present, unmanned boats are developing towards intelligence, and can conduct autonomous navigation and operations by issuing

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  • Unmanned ship global path planning method based on improved A star algorithm
  • Unmanned ship global path planning method based on improved A star algorithm
  • Unmanned ship global path planning method based on improved A star algorithm

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0025] The present invention provides a global path planning method for unmanned boats based on the improved A-star algorithm. The present invention changes the traditional A-star algorithm neighbor search strategy, expands the search neighborhood, improves the traditional heuristic function, combines the decentralization strategy, and adds The angle factor makes the results obtained during path search biased and distributed near the line connecting the starting point and the target point, improving the search efficiency. The invention uses electronic charts to obtain marine geographic information, combines the improved A-star algorithm with the dynamic grid method, builds a grid map model through grid dynamic refinement, uses the improved A-star algorithm to find the path, and makes the path accuracy gradually meet the accuracy requirements , a...

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Abstract

The invention provides an unmanned ship global path planning method based on an improved A star algorithm, which relates to the field of path planning. According to the method, a traditional A star algorithm neighborhood search strategy is changed, a search neighborhood is expanded, a traditional heuristic function is improved, a deweighting strategy is combined, and an angle factor is added, so that a result obtained during path search is distributed near a connecting line of a starting point and a target point in a biased manner, and the search efficiency is improved. According to the method, the marine geographic information is acquired by utilizing an electronic chart, the improved A star algorithm is combined with a dynamic grid method, the grid map model is constructed through grid dynamic refinement, the improved A star algorithm is applied to search for the path, the path precision gradually meets the precision requirement, and redundant path nodes are further reduced through smooth path processing.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a global path planning method for unmanned boats based on the improved A-star algorithm. Background technique [0002] As a kind of unmanned surface ship, unmanned ship is mainly used to perform dangerous and unsuitable tasks for manned ships, and has been widely used in many fields. At present, unmanned boats are developing towards intelligence, and can conduct autonomous navigation and operations by issuing commands. However, the self-propelled technology of unmanned boats in complex ocean environments still needs to be improved. In order to improve the intelligence level of unmanned boats and complete specific tasks in various complex environments, unmanned boats must have autonomous planning capabilities. Path planning is one of the key issues to be solved in the field of unmanned intelligent platforms, which reflects the level of intelligence of unmanned vehicles at s...

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 张涛秦彦樑王立辉夏茂栋张佳宇张晨张江源
Owner SOUTHEAST UNIV
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