基于区域分割的无人艇河道路径规划算法

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引用格式：，，，等.基于区域分割的无人艇河道路径规划算法[J].现代电子技术，2025，48（18）：165-171.

关键词：无人艇；河道；路径规划；区域分割；改进 A* 算法；栅格地图；启发式函数中图分类号：TN929.5-34 文献标识码：A 文章编号：1004-373X（2025）18-0165-07

Unmanned surface vehicle path planning algorithm based on regional segmentation

WANGShuai，HUANGJunkai，ZHENGZhenming，XUHongli，WANGHao （FacultyofRobotScienceandEngineering，NortheasternUniversity，Shenyang11O819，China）

Abstract：The traditional A* algorithm iswidelyused for path planning in static environments，butwhen facing the special longandnarrowformofriver，itspathplanningisoftenineficientduetooverlysimplenodeexpasionmethods.Onthisbasis， an improved A* algorithm forunmannedsurfacevehicle path planning isproposed.Theadaptabilityandeficiency of the traditional A ∴∗ algorithm in the narow and long river environment are optimized by combining the region segmentation and jump pointsearchtechniques.Theregionsegmentationmethodisusedtosignificantlydistinguishtheriverchannelintomultiple rectangularregions，andthesearch processisoptimizedbymeansofthejump-pointalgorithmtoreducetheinefectivenode expansion，thusacelerating thepath search.Anadaptive heuristicfunctionisintroduced toadjustthesearchpriorityof the nodesbyconsideringtheterraincharacteristicsofthepath，whichefectivelyreducestheredundantpartsofthepathand unecessry turns，and improves thestraightnessandoveralleficiencyof pathplanning.Thesimulationresultsshowthatthe improved algorithmisbetter thanthe traditional A algorithmin terms of path length，number of turning points and computation time，whichverifiesthepracticalityandsuperiorityoftheproposedalgorithmforunmannedsurfacevehiclepathplanninginriver environment.

Keywords：unmanned surface vehicle;river; path planning;regional segmentation;improved A* algorithm; grid map; heuristic function

0 引言

无人艇作为一种创新型机器人，在城市水域的水质监测和水体维护方面扮演着关键角色[1-3]。（剩余8604字）