Dynamic path planning algorithm of unmanned ship based on A*-dynamic window approach
In order to enable the unmanned ship to have the ability of autonomous path planning in the complex maritime environment and ensure that it can avoid obstacles in the unknown environment to reach the destination accurately,a new dynamic path planning algorithm for unmanned ships was pro-posed considering the global optimal characteristics of the A* algorithm and the real-time performance of the dynamic window method.The path points planned by the A* algorithm were used as the local target points of the dynamic window method,and the global path was re-planned in time when the in-termediate path points were unreachable,forming an A*-dynamic window method.The simulation re-sults in the dynamic environment show that the fusion algorithm can guide the unmanned ship to reach the target point smoothly through a smooth path,which proves the rationality and effectiveness of the algorithm.And thus the superiority of the proposed method to many traditional algorithms is verified.
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