智能科学与技术学报2025，Vol.7Issue(2)：184-199,16.DOI:10.11959/j.issn.2096-6652.202519
基于A*与动态窗口法的无人船路径规划
Path planning of unmanned ships based on A* and dynamic window approach
摘要
Abstract
The coastline raid task requires an unmanned surface ship to carry out precise,fixed-point raids in a complex coastal environment.The terrain of the coastal area is highly varied,with static obstacles such as reefs and shoals,as well as moving obstacles like floating objects at sea.Moreover,the task must be completed within a strict time frame.There-fore,real-time,safe,and accurate path planning for the unmanned surface ship is crucial.To address the challenge of bal-ancing global optimization,efficiency,and safety in path planning,a method that integrates global search and local optimi-zation was proposed,based on the A* algorithm and the dynamic window approach(DWA).The A* algorithm computed the global shortest path in a static environment,while the improved DWA optimized local path obstacle avoidance be-tween path nodes.The A* algorithm was enhanced by incorporating a heuristic function with dynamic exponential decay weighting,which reduced the running time and exploration space for global path planning.Additionally,the DWA was im-proved by introducing an evaluation function based on the angle between the heading of dynamic obstacles and the pre-dicted trajectory of the unmanned surface ship,as well as a distance evaluation function based on a logistic curve,which enhanced the real-time responsiveness of local obstacle avoidance.Simulation results demonstrate that the proposed hy-brid algorithm can search for a near-optimal global solution in real-time,effectively handle both static and dynamic ob-stacles,and significantly improve the task completion efficiency and stability of the unmanned surface ship in complex coastal environments.关键词
海岸线突袭/A*算法/动态窗口法/路径规划Key words
coastline raid/A* algorithm/dynamic window approach/path planning分类
信息技术与安全科学引用本文复制引用
付龙,沈震,陶浩,韩云君,董西松,熊刚..基于A*与动态窗口法的无人船路径规划[J].智能科学与技术学报,2025,7(2):184-199,16.基金项目
国家自然科学基金项目(No.62461160259,No.92360307,No.92267103) （No.62461160259,No.92360307,No.92267103）
北京市自然科学基金项目(No.L241016,No.L243009,No.L233005) The National Natural Science Foundation of China(No.62461160259,No.92360307,No.92267103),The Natural Science Foundation of Beijing(No.L241016,No.L243009,No.L233005) （No.L241016,No.L243009,No.L233005）
