Self-cruising Garbage Collection Ship Based on Improved A* Algorithm

Abstract In order to solve the problem of automatic path planning and obstacle avoidance accuracy of unmanned ships in complex environments, an improved A* algorithm is proposed to set the objective function considering wind speed, wind direction, water speed, water direction, water depth, obstacles, and other environmental factors under the 36*36 gridded map, and to remove the redundant points through the improved A* algorithm for path planning, and to comprehensively consider the shortest path with the least energy consumption. In summary, the best expectation is sought. In the simulation experiments, the improved A* algorithm is more accurate than the traditional A* algorithm path planning.