Path Planning Based on A* Algorithm for Unmanned Surface Vehicle

被引：0
|
作者：
Hou, Kang [1 ]
Lan, Xiaojuan [2 ]
Zhang, Yucheng [1 ]
Tyagi, Sumarga Kumar Sah [1 ]
机构：
[1] Chinese Acad Sci, Inst Comp Technol, 6 Kexueyuan South Rd, Beijing 100190, Peoples R China
[2] Beijing Univ Posts & Telecommun, Sch Network Educ, 28 Xinjiekouwai St, Beijing 100088, Peoples R China
来源：
HUMAN SYSTEMS ENGINEERING AND DESIGN, IHSED2018 | 2019年 / 876卷
关键词：
Unmanned Surface Vehicle; Path planning; A* algorithm; TRACKING;
D O I：
10.1007/978-3-030-02053-8_119
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Path planning based on A* algorithm for unmanned surface vehicle (USV) is researched in this paper. The kinematic model of the USV is built and simplified under the reasonable assumptions. According to the position and orientation coordinates of possible obstacle, the collision conditions and workspace of unmanned surface vehicle are analyzed. For the path planning of USV, A* algorithm is designed to realize the effective and efficient motion. The collision-free path search in the free workspace of USV is carried out by using A* algorithm, and the obstacle avoidance path planning is analyzed. Then the simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.
引用
收藏
页码：783 / 788
页数：6
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