Modified A* Algorithm for Obstacle Avoidance for Unmanned Surface Vehicle
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참고문헌
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초록
Efficient path planning is essential for unmanned surface vehicle (USV) navigation. The A* algorithm is an effective algorithm for identifying a safe path with optimal distance cost. In this study, a modified version of the A* algorithm is applied for planning the path of a USV in a static and dynamic obstacle environment. The current study adopts the A* approach while maintaining a safe distance between the USV and obstacles. Two important parameters―path length and computational time―are considered at various start times. The results demonstrate that the modified approach is effective for obstacle avoidance by a USV that is compliant with the International Regulations for Preventing Collision at Sea (COLREGs).
Abstract
Efficient path planning is essential for unmanned surface vehicle (USV) navigation. The A* algorithm is an effective algorithm for identifying a safe path with optimal distance cost. In this study, a modified version of the A* algorithm is applied for planning the path of a USV in a static and dynamic obstacle environment. The current study adopts the A* approach while maintaining a safe distance between the USV and obstacles. Two important parameters―path length and computational time―are considered at various start times. The results demonstrate that the modified approach is effective for obstacle avoidance by a USV that is compliant with the International Regulations for Preventing Collision at Sea (COLREGs).
참고문헌 (15)
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