引用本文: 余必秀, 初秀民, 柳晨光, 张豪, 毛庆洲. 基于改进A*算法的无人航道测量船路径规划方法[J]. 武汉大学学报 ( 信息科学版), 2019, 44(8): 1258-1264.
YU Bixiu, CHU Xiumin, LIU Chenguang, ZHANG Hao, MAO Qingzhou. A Path Planning Method for Unmanned Waterway Survey Ships Based on Improved A* Algorithm[J]. Geomatics and Information Science of Wuhan University, 2019, 44(8): 1258-1264.
 Citation: YU Bixiu, CHU Xiumin, LIU Chenguang, ZHANG Hao, MAO Qingzhou. A Path Planning Method for Unmanned Waterway Survey Ships Based on Improved A* Algorithm[J]. Geomatics and Information Science of Wuhan University, 2019, 44(8): 1258-1264.

## A Path Planning Method for Unmanned Waterway Survey Ships Based on Improved A* Algorithm

• 摘要: 无人航道测量船由于具有低成本、高效率、便捷等优点，在航道测量领域受到越来越多的关注。在避碰过程中，为保证无人航道测量船测量数据的有效性，新规划的避碰路线应尽可能地与原规划测量航线一致。针对传统A*算法所规划的路径在避开障碍物之后无法快速回到预设航线上的问题，提出了一种改进的A*算法。该算法主要是在原始代价函数的基础上，新增了一个与当前点到预设航线的垂直距离相关的代价值，且该代价值的取值与无人航道测量船所处的位置相关。首先在MATLAB仿真环境下对改进A*算法进行仿真实验，然后利用无人航道测量船实船平台开展航行验证实验并进行围栏分析。实验结果表明，相比于传统A*算法，在保证安全的前提下，改进A*算法能够使无人航道测量船在避开障碍物之后更快地回到预设航线。

Abstract: In recent years, owing to the advantages of low cost, high efficiency and convenience, an unmanned waterway survey ship has received more and more attention in the area of waterway survey. In the process of collision avoidance, reducing the deviation between the newly planned collision avoidance route and the preplanned route is key to complete the waterway survey duties with accurate survey data by an unmanned waterway survey ship. Due to the problem that the path planned by the traditional A* algorithm cannot quickly approach the preplanned route after obstacle avoidance, an improved A* algorithm is proposed. Based on the original cost function of the A* algorithm, the improved A* algorithm adds a new cost value associated with the vertical distance from the current point to the preplanned route. The value is related to the location of the unmanned waterway survey ship. Firstly, the improved A* algorithm is carried out under the MATLAB simulation environment, and then the actual ship navigation test is carried out by using an unmanned waterway survey ship platform. Moreover, the experimental data are analyzed based on geo-fencing. Experimental results show that compared with the traditional A* algorithm under the premise of safety, the improved A* algorithm can make the unmanned waterway survey ship approach the preplanned route more quickly after avoiding obstacles.

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