This paper proposed an improved RRT*algorithm.The algorithm calculated DCPA and TC-PA between this ship and other ships according to the international rules for preventing collisions at sea,judged the encounter scene and limited the sampling space.By selecting sampling points in the sampling space through offset sampling,the purpose was enhanced and the search speed was acceler-ated.According to the axiom of line segment and anchor sampling,the parent node was re-selected,the redundant nodes in the middle were removed,and the path turning times and path length were re-duced,so that the finally generated path was relatively smooth.The results show that the improved RRT*algorithm reduces turning points by more than 81％and path length by more than 5％.
关键词
无人艇/局部路径规划/快速扩展随机树/国际海上避碰规则
Key words
unmanned surface vessel/local path planning/rapidly exploring random trees/convention on the international regulations for preventing collisions at sea
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