Research on formation navigation of USV based on improved A* and DWA fusion algorithm

Abstract

As an important future development direction, unmanned agent formation has considerable research value. Therefore, path planning is the key technology for unmanned platforms to realize intelligent navigation, and the scheme combining A* and DWA algorithm has a wide range of applications, but this method has the following problems in the navigation of USV formation: First, the speed of USV are uncontrollable when it reaches the target position; Second, the navigation success rate is low when the global paths of three USVs cross; Third, USV tends to deviate from the global path when turning. Based on the above problems, this paper proposes an improved algorithm. By adjusting the global path and improving the decision strategy, the algorithm solves the shortcomings of the original algorithm and improves the performance. The improved algorithm is simulated and evaluated, which fully proves the effectiveness of the improved measures and puts forward a solution for the intelligent navigation of USV formation.