A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

A Novel Unmanned Surface Vehicle Path-Planning Algorithm Based on A* and Artificial Potential Field in Ocean Currents

4 February 2024 | Chaopeng Yang, Jiacai Pan *, Kai Wei, Mengjie Lu and Shihao Jia
This paper proposes an improved A* algorithm combined with an artificial potential field (APF) for path planning of unmanned surface vehicles (USVs) in ocean currents. The main contributions of the proposed algorithm are threefold: (1) The algorithm eliminates unnecessary nodes to reduce computational complexity and introduces an adaptive guidance angle to guide the search in the most appropriate direction, reducing computing time. (2) The potential field force function is integrated into the cost function to ensure that the USV maintains a safe distance from obstacles under ocean current influence. (3) The Bezier curve is used to smooth the planned path. Experimental results show that the proposed algorithm runs 22.5% faster on average compared to the traditional A* algorithm and effectively maintains appropriate distances from obstacles under different current conditions. The study also highlights the importance of considering ocean currents in USV path planning to enhance safety and efficiency.This paper proposes an improved A* algorithm combined with an artificial potential field (APF) for path planning of unmanned surface vehicles (USVs) in ocean currents. The main contributions of the proposed algorithm are threefold: (1) The algorithm eliminates unnecessary nodes to reduce computational complexity and introduces an adaptive guidance angle to guide the search in the most appropriate direction, reducing computing time. (2) The potential field force function is integrated into the cost function to ensure that the USV maintains a safe distance from obstacles under ocean current influence. (3) The Bezier curve is used to smooth the planned path. Experimental results show that the proposed algorithm runs 22.5% faster on average compared to the traditional A* algorithm and effectively maintains appropriate distances from obstacles under different current conditions. The study also highlights the importance of considering ocean currents in USV path planning to enhance safety and efficiency.
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