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融合A*与DWA算法的水面船艇动态路径规划

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为解决水面船艇路径规划同时要求全局最优、实时避障和航迹安全可靠的问题,提出了一种基于融合A*算法与动态窗口算法(DWA)的水面船艇路径规划方法.首先通过引入启发函数动态加权策略,提高A*算法的搜索效率;然后综合考虑水面船艇的运动特性,采用一种路径转角节点角度削弱策略,减少转角,缩短全局路径长度;最后,基于全局因素影响与航迹安全约束对DWA算法的轨迹评价函数进行改进,并以全局路径提供子目标点引导DWA算法进行局部规划的方式完成算法融合.实验结果表明,融合算法相比于现有算法的总转向角度分别减少了 45.6%、46.0%,验证了融合算法的有效性与可行性,并且相较于其他传统算法更具优越性.
Dynamic path planning of surface ship by combining A* and dynamic window algorithm
To solve the problem of requiring global optimization,real-time obstacle avoidance,and safe and reliable trajectory in surface ship path planning,a surface ship path planning method based on A* algorithm and DWA algorithm is proposed.Firstly,the heuristic function dynamic weighting strategy is introduced to improve the search efficiency of A* algorithm.Then,considering the motion characteristics of surface ships,an Angle weakening strategy of the path Angle node is adopted to reduce the angle and shorten the global path length.Finally,the trajectory evaluation function of the DWA algorithm is improved based on the influence of the global factors and track safety constraints,and the algorithm fusion is completed by providing subentry points of global path to guide the DWA algorithm to carry out local planning.Experimental results show that the total steering Angle of the proposed algorithm is reduced by 45.6%and 46.0%,respectively,compared with the existing fusion algorithms,which verifies the effectiveness and feasibility of the proposed fusion algorithm,and has more advantages over other traditional algorithms.

path planningsurface shipglobal optimumreal-time obstacle avoidancenavigation safetyA* algorithmdynamic window algorithmfusion algorithm

孙岩霆、王荣杰、蒋德松

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集美大学轮机工程学院 厦门 361021

福建省船舶与海洋工程重点实验室 厦门 361021

路径规划 水面船艇 全局最优 实时避障 航行安全 A*算法 动态窗口法 融合算法

国家自然科学基金机器视觉检测安徽省重点实验室开放基金

51879118KLMVI-2023-HIT-14

2024

10.19650/j.cnki.cjsi.J2311961

仪器仪表学报
中国仪器仪表学会

仪器仪表学报

CSTPCD北大核心
影响因子：2.372
ISSN：0254-3087
年,卷(期)：2024.45(1)
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