基于A*与动态窗口法的无人船路径规划

付龙; 沈震; 陶浩; 韩云君; 董西松; 熊刚

doi:10.11959/j.issn.2096-6652.202519

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基于A*与动态窗口法的无人船路径规划

学术论文 | 更新时间：2025-07-21

- 基于A*与动态窗口法的无人船路径规划
- Path planning of unmanned ships based on A* and dynamic window approach
- 智能科学与技术学报 2025年7卷第2期页码：184-199
- 作者机构：
  
  1.中国科学院大学人工智能学院，北京 100149
  2.中国科学院自动化研究所多模态人工智能系统全国重点实验室，北京 100190
  3.中国科学院自动化研究所北京市智能化技术与系统工程技术研究中心，北京 100190
  4.东莞中科云计算研究院，广东东莞 523808
  5.中国舰船研究设计中心，湖北武汉 430064
- 作者简介：
  
  [ "付龙（1993- ），男，中国科学院大学人工智能学院硕士生，主要研究方向为平行智能、智能系统等。" ]
  [ "沈震（1982- ），男，博士，中国科学院自动化研究所多模态人工智能系统全国重点实验室、北京市智能化技术与系统工程技术研究中心研究员，主要研究方向为复杂系统、智能控制。" ]
  [ "陶浩（1987- ），男，博士，中国舰船研究设计中心高级工程师，主要研究方向为智能无人系统、强化学习。" ]
  [ "韩云君（1973- ），男，博士，中国科学院自动化研究所多模态人工智能系统全国重点实验室、北京市智能化技术与系统工程技术研究中心副研究员，主要研究方向为制造系统的规划、调度。" ]
  [ "董西松（1978- ），男，博士，中国科学院自动化研究所多模态人工智能系统全国重点实验室、北京市智能化技术与系统工程技术研究中心副研究员，主要研究方向为复杂系统的建模与控制、智能交通系统。" ]
  [ "熊刚（1969- ），男，博士，中国科学院自动化研究所多模态人工智能系统全国重点实验室、北京市智能化技术与系统工程技术研究中心研究员，主要研究方向为复杂系统平行控制、智能制造、智能交通。" ]
- 基金信息：
  
  国家自然科学基金项目(62461160259;92360307;92267103);北京市自然科学基金项目(L241016;L243009;L233005)
- DOI：10.11959/j.issn.2096-6652.202519
  中图分类号： TP242.6
- 收稿日期：2025-02-28，
  
  修回日期：2025-04-11，
  
  纸质出版日期：2025-06-15
- 稿件说明：
移动端阅览
付龙,沈震,陶浩等.基于A*与动态窗口法的无人船路径规划[J].智能科学与技术学报,2025,07(02):184-199.

FU Long,SHEN Zhen,TAO Hao,et al.Path planning of unmanned ships based on A* and dynamic window approach[J].Chinese Journal of Intelligent Science and Technology,2025,07(02):184-199.
付龙,沈震,陶浩等.基于A*与动态窗口法的无人船路径规划[J].智能科学与技术学报,2025,07(02):184-199. DOI： 10.11959/j.issn.2096-6652.202519.

FU Long,SHEN Zhen,TAO Hao,et al.Path planning of unmanned ships based on A* and dynamic window approach[J].Chinese Journal of Intelligent Science and Technology,2025,07(02):184-199. DOI： 10.11959/j.issn.2096-6652.202519.

摘要

海岸线突袭任务要求无人水面船（unmanned surface vessel，USV）在复杂的海岸环境中完成精确的定点突袭。海岸区域地形多变，存在礁石、浅滩等静态障碍物与海上漂浮物等动态障碍物，同时任务时间有严格要求。因此，为USV提供实时、安全、准确的路径规划非常重要。针对当前路径规划存在无法兼顾全局寻优、时效性和安全性的难题，基于A*算法和动态窗口法（dynamic window approach，DWA）提出了全局探索与局部优化相融合的方法：A*算法提供静态环境下全局最短路径，路径节点之间使用改进的DWA进行局部路径避障优化。通过引入动态指数衰减加权的启发式函数改进A*算法，降低了全局路径规划的运行时间和探索空间；通过引入动态障碍物航向角和USV预测轨迹航向角的夹角评价子函数和基于Logistic函数的距离评价子函数来改进DWA，增强了局部避障中的实时反应能力。仿真结果表明，融合算法在海岸线突袭任务中能够实时探索全局近优解，有效应对静态和动态障碍物的影响，显著提升USV在复杂海岸线环境中的任务完成效率和稳定性。

Abstract

The coastline raid task requires an unmanned surface ship to carry out precise

fixed-point raids in a complex coastal environment. The terrain of the coastal area is highly varied

with static obstacles such as reefs and shoals

as well as moving obstacles like floating objects at sea. Moreover

the task must be completed within a strict time frame. Therefore

real-time

safe

and accurate path planning for the unmanned surface ship is crucial. To address the challenge of balancing global optimization

efficiency

and safety in path planning

a method that integrates global search and local optimization was proposed

based on the A* algorithm and the dynamic window approach (DWA). The A* algorithm computed the global shortest path in a static environment

while the improved DWA optimized local path obstacle avoidance between path nodes. The A* algorithm was enhanced by incorporating a heuristic function with dynamic exponential decay weighting

which reduced the running time and exploration space for global path planning. Additionally

the DWA was improved by introducing an evaluation function based on the angle between the heading of dynamic obstacles and the predicted trajectory of the unmanned surface ship

as well as a distance evaluation function based on a logistic curve

which enhanced the real-time responsiveness of local obstacle avoidance. Simulation results demonstrate that the proposed hybrid algorithm can search for a near-optimal global solution in real-time

effectively handle both static and dynamic obstacles

and significantly improve the task completion efficiency and stability of the unmanned surface ship in complex coastal environments.

关键词

Keywords

references

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