基于双向搜索改进A^(*)算法的无人艇全局路径规划  

Improved A^(*)algorithm based on bidirectional search for global path planning of unmanned surface vehicles

作　　者：梅梦磊 陈顺洪 菅永坤 白立 MEI Menglei;CHEN Shunhong;JIAN Yongkun;BAI Li(Navigation Department,China Coast Guard Academy,Ningbo 315801,China;Guangzhou Marine Engineering Corporation,Guangzhou 510250,China)

机构地区：[1]武警海警学院航海系,浙江宁波315801 [2]广州船舶及海洋工程设计研究院,广东广州510250

出　　处：《舰船科学技术》2025年第5期97-102,共6页Ship Science and Technology

基　　金：国家自然科学基金委员会联合基金项目(U214120082);武警海警学院院级科研项目(2023YJXM14)。

摘　　要：为解决传统A^(*)算法搜索效率低、路径拐点多、贴近障碍物等问题,结合无人艇特性,提出一种改进A^(*)算法。首先,引入人工势场法对评价函数进行改进,考虑障碍物斥力场的影响,提高路径安全性;其次,通过改进节点遍历方式和双向搜索机制减少搜索节点,提高路径规划速度;最后,对生成路径进行二次优化,删除冗余节点,提升路径平滑性。仿真结果表明,开阔水域场景下改进A^(*)算法在安全性、路径长度、路径平滑性、规划速度方面均有较大提升;岛礁区场景下改进A^(*)算法虽然在路径长度上有所牺牲,但安全性、路径平滑性、规划速度方面具有明显优势。研究成果可为无人艇全局路径规划问题研究提供一定的参考。In order to solve the problems of the traditional A^(*)algorithm,such as low search efficiency,many inflection points and close to obstacles,an improved A^(*)algorithm is proposed based on the navigation characteristics of unmanned surface vehicles.Firstly,the artificial potential field method is put in place to improve the evaluation function,and the safety of the path is improved by considering the influence of the obstacles repulsion fields.Secondly,by improving the traversal mode of nodes and bidirectional search mechanism,the search nodes are reduced and the path planning speed is improved.Finally,in order to enhance path smoothness,the redundant nodes are deleted to optimize the path.The simulation results show that the improved A^(*)algorithm in open water has a significant improvement in safety,path length,path smoothness and planning speed.Although the improved A^(*)algorithm in the island regions has some sacrifices in the path length,it has obvious advantages in terms of safety,path smoothness and planning speed.The research results can provide a certain refer-ence for the research of global path planning of unmanned surface vehicles.

关 键 词：路径规划 改进A^(*)算法 斥力场 双向搜索 

分 类 号：U675.79[交通运输工程—船舶及航道工程]