Research on Real-time Obstacle Avoidance of Unmanned Boats in Complex Water Environment

摘要

In order to improve the real-time obstacle avoidance ability of unmanned boats in unknown waters and even complex waters, this paper proposes an improved A* real-time obstacle avoidance algorithm for the traditional A* algorithm to maintain a large number of open list and close list. First, the binary value of the estimated value of the nodes in the open list is sorted, and the node with the smallest estimated cost value is placed at the top of the binary heap for quick access. Secondly, the maintenance of the close list is improved to the mark expansion node. Finally, the Bezier curve is used to smooth the path. The experimental results show that compared with the traditional algorithm, the improved algorithm has faster planning speed and smoother planning path in complex water environment, and has a wider application background.