In order to solve the problem of Path-planning for Unmanned Surface Vessel, a traversal algorithm based on ArcGis is presented. Firstly, ArcGis in the algorithm is selected to choose navigation area based on the layered Electronic Chart, using global path planning and local path planning method to find approximate navigable path. And then The Voronoi diagram is selected to establish the navigation path set for dynamic objects or obstacles which can be regarded as particles. Last, according to the oars, the rudder and maneuver characteristic of USV, the actual sailing and maneuvering conditions are used to optimize the path of the navigable which is the public area of navigation area(or minor hinders navigation area)and the navigation path set. Matlab based simulations demonstrate that when the obstacle position coordinates or destination location coordinates can generate approximate navigable path. Generating different approximate navigable path can be optimized for optimal safety navigable path, so the constructing environment model and the use of the path planning algorithm are available and effective.
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