Open AccessResearch on path Planning algorithm of Unmanned ship in narrow Water area
Author(s) -
Liang Sun,
Youjian Zhao,
Jian Zhang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2029/1/012122
Subject(s) - random tree , motion planning , path (computing) , computer science , algorithm , path length , real time computing , mathematical optimization , artificial intelligence , mathematics , computer network , robot
Aiming at the problems of strong random search characteristics and high volatility of planning path in bi-directional Rapidly-exploring Random Tree (bi-RRT) algorithm, a new random tree growth strategy is proposed, the connection between random trees is improved to improve the path-finding speed of the algorithm, and the improved bi-RRT algorithm is used to design a path planning algorithm for unmanned ships in narrow waters. At the end of this paper, the unmanned ship path planning experiment in the island and reef area is carried out, and the experimental results show that the unmanned ship path planning algorithm based on the improved bi-RRT algorithm can quickly provide a safe path for the unmanned ship in narrow waters, and has advantages over the traditional bi-RRT algorithm in terms of time performance, planning path length and volatility, which can provide relevant reference for the research of unmanned ship intelligent navigation.