Path Planning Based on A* Algorithm for Unmanned Surface Vehicle
Path planning based on A* algorithm for unmanned surface vehicle (USV) is researched in this paper. The kinematic model of the USV is built and simplified under the reasonable assumptions. According to the position and orientation coordinates of possible obstacle, the collision conditions and workspace of unmanned surface vehicle are analyzed. For the path planning of USV, A* algorithm is designed to realize the effective and efficient motion. The collision-free path search in the free workspace of USV is carried out by using A* algorithm, and the obstacle avoidance path planning is analyzed. Then the simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.
KeywordsUnmanned Surface Vehicle Path planning A* algorithm
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