An improved path planning method of variable step sparse A*algorithm was proposed.Based on the limitation of USV rotation performance,the USV rotation model was established to de-termine the relationship between the forward exploration angle and the exploration step.The heuristic item in A*algorithm was improved to speed up the search of the algorithm.On this basis,combined with USV rotation model and variable step method,a variable step exploration strategy was estab-lished,which conformed to USV handling characteristics.By adding alternative node mechanism,the quality of the path planning was effectively improved.The results show that the proposed algorithm has better optimization performance than the sparse A*algorithm with fixed step size and variable step size,and the path quality generated in complex environment is better.
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