To solve the problem of global path planning of Maritime Unmanned Vessel (MUV), an A-star algorithm based on self-adaptive grid processing is presented. First, in the algorithm, an environment model based on an electronic river chart has been built. Then, grid processing and a self-adaptive grid processing method have been built to make the environment model adapt to the algorithm. The simulation results indicate that the A-star algorithm proposed in this paper can be effectively applied to global path planning of MUV`s autonomous navigation for complex inland waterway condition.


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    Title :

    A Global Path Planning Algorithm of Unmanned Vessel in Inland Waterway


    Contributors:
    Zhu, Man (author) / Wang, Yang (author) / Wen, Yuanqiao (author)

    Conference:

    Second International Conference on Transportation Information and Safety ; 2013 ; Wuhan, China


    Published in:

    ICTIS 2013 ; 2106-2113


    Publication date :

    2013-06-11




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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