基于改进A^(∗)算法的内陆湖无人船路径规划  

Inland lake unmanned boat path planning based on improved A^(∗)algorithm

作　　者：林潭奇 李存荣[1,2] 刘帅文 LIN Tanqi;LI Cunrong;LIU Shuaiwen(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Industrial Research Institute of Suizhou Wuhan University of Technology,Suizhou 441399,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070 [2]随州武汉理工大学工业研究院,湖北随州441399

出　　处：《大连海事大学学报》2024年第3期87-96,共10页Journal of Dalian Maritime University

基　　金：湖北省重点研发计划项目(2020BAB013);2020年度湖北省市场监督管理局技术保障专项(Hbscjg⁃JS202010)。

摘　　要：针对无人船在内陆湖环境使用A^(∗)算法规划的路径存在避碰能力不足、转向动作多、转向路径不平滑的问题,提出一种改进A^(∗)和路径平滑算法。首先改进估价函数,引入避障代价和转向代价;其次迭代使用A^(∗)算法逆向分段生成路径,消除原始A^(∗)算法的冗余路径;最后考虑无人船的旋回性能,对转向轨迹进行优化。在真实内陆湖水域栅格地图上的仿真实验表明,该改进算法可显著降低无人船的碰撞概率、转向角度和行驶距离,提高了无人船的转向表现。An improved A^(∗)and path smoothing algorithm was proposed to overcome the defects of A^(∗)⁃based paths for unmanned boats in inland lake environments including collision avoidance insufficiency,maneuver redundancy,and steering non⁃smoothness.Firstly,the evaluation function was enhanced by incorporating obstacle avoidance and steering costs.Sec⁃ondly,the redundant path of the A^(∗)algorithm was removed by iteratively generating the segmentations in a reversal manner.Finally,the steering trajectory was further optimized by addressing steering performance of the unmanned boat.Simulation experiments on a real inland lake map show that the improved algorithm significantly reduces the collision probability,steering angle and traveling distance,simultaneously,and thereby improving the steering performance of the unmanned boat.

关 键 词：无人船 A^(∗)算法 旋回性能 路径平滑 

分 类 号：U664.82[交通运输工程—船舶及航道工程]