A method to determine the local optimal path of ship navigation for convex obstacle

摘要

As a heuristic search algorithm, the A* algorithm is often used to solve the problem of ships routing optimization. For convex obstacles, the A* algorithm is improved in the local optimal path planning of ships, when the increased number of waypoints lead a lower efficiency. The improved algorithm uses the angle between the starting point, the ending point and north direction as the heuristic information to reduce the number of route points in the path planning process. After simulation and verification, the number of the improved algorithms waypoint searched is reduced by about 30 percent compared with the classical A* algorithm, significantly less than the classical A* algorithm.