A Novel Unmanned Ship Route Planning Approach Based on A-Star Algorithm and Artificial Potential Field Method

For the multi-target point path planning of unmanned garbage salvage ships in the environment with dynamic and static obstacles, a global path planning algorithm that combines the A* algorithm and the artificial potential field method is designed. The Euclidean distance between each target point is obtained by traversing all target points through the A* algorithm to obtain the cost function, and then the node order of path planning is obtained through this cost function. At the same time, the gravitational and repulsive force functions of the artificial potential field method are used for obstacle avoidance, and finally the path is planned. The fusion algorithm proposed in this paper solves the problem of low smoothness of the traditional A* algorithm and optimizes its dynamic obstacle avoidance. In the simulation experiment, the planned path can avoid obstacles when there are dynamic obstacles, and the path is relatively smooth.