Route Optimization Method for Unmanned Surface Vehicles under Complex Sea Conditions

DOI: https://doi.org/10.62517/jbdc.202601102

Author(s)

Bo Yu, Xinqian Liu, Aimei Xiao*

Affiliation(s)

School of Computer Science and Technology, Shandong University of Technology, Zibo, Shandong, China *Corresponding Author

Abstract

To address the composite requirements of route planning for Unmanned Surface Vehicles under complex sea conditions, which need to balance path optimality, motion feasibility, and obstacle avoidance, this study proposes a scenario-specific optimized route planning method. First, by reconstructing the cost function and optimizing the node expansion strategy, an improved A* algorithm is proposed, which significantly enhances the efficiency of its straight-line search in open waters. Second, by deeply integrating the ship kinematics model, introducing dynamic parameter adjustment and path smoothing strategies, an improved Hybrid A* algorithm is constructed, which enhances its safe obstacle avoidance capability in obstacle-dense areas. Furthermore, a hybrid planning strategy based on obstacle density for scene recognition and dynamic algorithm switching is designed in this paper. Simulation experimental results show that, compared with traditional algorithms, the proposed improved algorithms and hybrid strategy exhibit significant advantages in key performance indicators such as path length, search time, and success rate in high-obstacle areas. They can better adapt to the complex and variable marine environment, providing an effective technical solution for the autonomous and safe navigation of Unmanned Surface Vehicles.

Keywords

Marine Environment Adaptation; Path Planning; USV Route Optimization; Improved A* Algorithm; Improved Hybrid A* Algorithm

References

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