基于可视图法的水面无人艇路径规划设计

摘要

为了解决水面无人艇全局路径规划问题，提出一种基于可视图的A*算法。该算法使用启发式搜索的方式，克服了传统可视图法灵活性差的问题，可以减少规划时间，提高规划效率。通过在平面障碍物环境下的仿真运算，验证了该算法的可行性。%To solve the problem of global path planning of USV (Unmanned Surface Vehicle), this paper presents an A-star searching algorithm based on visible graph. In the algorithm a heuristic search model is used, which overcomes the insufficiency in flexibility for traditional visible graph algorithm, reduces planning time and improves planning efficiency. The simulation verifies the effectiveness and feasibility of the method in the environment with obstacles.