UCL logo

UCL Discovery

UCL home » Library Services » Electronic resources » UCL Discovery

Smoothed A* algorithm for practical unmanned surface vehicle path planning

Song, R; Liu, Y; Bucknall, R; (2018) Smoothed A* algorithm for practical unmanned surface vehicle path planning. Applied Ocean Research , 83 pp. 9-20. 10.1016/j.apor.2018.12.001.

[img] Text
Liu Smoothed A algorithm for practical unmanned surface vehicle path planning.pdf - ["content_typename_Accepted version" not defined]
Access restricted to UCL open access staff until 14 December 2019.

Download (1MB)

Abstract

An effective path planning or route planning algorithm is essential for guiding unmanned surface vehicles (USVs) between way points or along a trajectory. The A* algorithm is one of the most efficient algorithms for calculating a safe route with the shortest distance cost. However, the route generated by the conventional A* algorithm is constrained by the resolution of the map and it may not be compatible with the non-holonomic constraint of the USV. In this paper an improved A* algorithm has been proposed and applied to the Springer USV. A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route. Both simulation and experimental results show that the smoothed A* algorithm outperforms the conventional algorithm in both sparse and cluttered environments that have been uniformly rasterised. It has been demonstrated that the proposed improved A* route planning algorithm can be applied to the Springer USV providing promising results when tracking trajectories.

Type: Article
Title: Smoothed A* algorithm for practical unmanned surface vehicle path planning
DOI: 10.1016/j.apor.2018.12.001
Publisher version: https://doi.org/10.1016/j.apor.2018.12.001
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: USV navigation, Path planning, A* algorithm, Autonomous
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: http://discovery.ucl.ac.uk/id/eprint/10064237
Downloads since deposit
1Download
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item