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.
A Global Path Planning Algorithm of Unmanned Vessel in Inland Waterway
Second International Conference on Transportation Information and Safety ; 2013 ; Wuhan, China
ICTIS 2013 ; 2106-2113
2013-06-11
Conference paper
Electronic Resource
English
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