Research on cleaning unmanned vessel based on improved dynamic window approach algorithm

In traditional water garbage cleaning vessels, there are various problems such as large size, difficult control, limited functions, and the need for human labor. Additionally, in traditional vessel obstacle avoidance algorithms like A* algorithm and DWA algorithm, there exist issues of low efficiency, redundant path planning, and collision risks. In the context of unmanned vessel path planning for garbage cleaning, an improved and integrated DWA algorithm is proposed to address the problem of ineffective collision avoidance when encountering dynamic and static obstacles. The simulation results show that the proposed algorithm can effectively determine the collision avoidance responsibility of unmanned vessels in dynamic and static situations. It reduces the steepness of speed changes during navigation and the planned path improves the safety of unmanned vessel operations, increases the speed of garbage cleaning, and reduces the required time.