USV Path Planning Research Based On Artificial Potential Field Method And A-star Algorithm

Since the new century,the international form has become increasingly tense and complex,and it has become an urgent task to safeguard the sovereignty of the sea and protect the territorial sea.China has a long coastline and many neighboring countries,so it is necessary to develop marine military.As a new type of surface combat boat,water surface unmanned craft has many advantages,such as unmanned,intelligent,automatic and so on.It can be used in maritime reconnaissance,surveillance,mine sweeping and other aspects.Various countries have studied the surface unmanned craft in varying degrees.As one of the key technologies of unmanned surface vehicle,the path planning technology is an important embodiment of the intelligent level of unmanned craft.Specifically,in the known global environment to find a way to bypass obstacles,to reach the end of the path.In the local environment,the obstacle is removed and the terminal point is reached,and when the obstacle changes,the path can be changed in time,and the dynamic programming can be realized.In this paper,the research status and research significance of unmanned surface vehicle are introduced.The research significance of unmanned route planning is emphasized.Therefore,this paper expounds the significance of this study.In this paper,various path planning algorithms are introduced and selected.Aiming at the global path planning problem of unmanned submarine vehicle,an improved artificial potential field method is designed to improve the existing problems of artificial potential field method.According to the local path planning of unmanned ship,using A-star algorithm,the modified using MATLAB tools for simulation,and according to the local dynamic path planning,dynamic form of D-lite algorithm using A-star algorithm for dynamic obstacle of dynamic programming,the use of Linux verification.Finally,this paper describes the concept of electronic chart,and combines the electronic chart with the global path planning of unmanned submarine for the specific environment,and then carries on the simulation verification on the MATLAB.