科技创新与应用2025，Vol.15Issue(35)：34-39,6.DOI:10.19981/j.CN23-1581/G3.2025.35.007
基于电子海图的无人艇全局避障路径规划研究
摘要
Abstract
In order to adapt to the complexity,timeliness,and dynamic changes in the environment of modern operations,and provide a more reasonable algorithm for the global path obstacle avoidance problem of surface unmanned vehicles to meet the needs,this paper optimizes its heuristic function and search strategy.The algorithm calculates the shortest behavioral path without reducing the collision avoidance rate.In addition,this paper first uses the grid method to model the marine environment,and then improves the traditional A* algorithm to verify the problems existing in the traditional A* algorithm and conducts feedback adjustments in multiple experiments.Experiments show that the improved algorithm shortens the path length by 6.9%～17.94%in typical application scenarios,increases the dynamic obstacle avoidance response time to less than 0.3 seconds,and can adjust and update the environment weight parameters in real time through the online learning module to achieve"people in the loop"precise control.关键词
水面无人艇/启发函数/搜索策略/A*算法/栅格法环境建模Key words
surface unmanned vehicle/heuristic function/search strategy/A* algorithm/grid environment modeling分类
信息技术与安全科学引用本文复制引用
..基于电子海图的无人艇全局避障路径规划研究[J].科技创新与应用,2025,15(35):34-39,6.基金项目
2024年度海军大连舰艇学院学员科研课题研究项目(无编号) （无编号）
