改进A-star算法的无人船动态路径规划

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中图分类号： TP391 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.07.24

Abstract： In order to solve the problems of multiple turning points， poor path safety，and limited application of traditional A-star algorithms in dynamic environments in unmanned ship dynamic path planning， an improved A-star algorithm is proposed.Firstly，this method modifies the storage method of open-list and increases the direction of neighborhood search to flexibly adjust the direction of unmanned ships and improve their adaptability in dynamic environments. Secondly，by introducing a straight-line guidance function and a safety distance cost formula，the path planning process is effectively optimized to avoid unnecessary path detours and colision risks. Finally，by focusing on search methods，the oscilation and repeated motion of unmanned ship are reduced.The simulation results show that the improved A-star algorithm can avoid dynamic obstacles， and compared with other dynamic path planning algorithms，the improved A-star reduces path length by 4.88% （20 and 0.09% ， and smoothness by 37.32% and 23.17% . The improved algorithm can generate smoother and safer paths，suitable for dynamic path planning of unmanned ships.

Keywords： path planning；unmanned ship；A-star algorithm； ocean cruise； dynamic path planning

0 引言

仅提高了任务执行的效率和安全性，还推动了海洋技术的发展，具有广泛的经济和社会效益。（剩余19969字）