An Improved A-Star Algorithm for Complete Coverage Path Planning of Unmanned Ships

Abstract

Aiming at the low efficiency and high energy consumption of unmanned ships traversing the entire area, a complete coverage path planning algorithm based on the improved A-star algorithm is proposed. The positioning and vision systems of unmanned ships are used to digitize the actual water information, and the grid method is used to convert the information into an environmental map that can be planned. Compared to the trapezoidal partition of unity method and the short-side reciprocating traversal algorithm in the traversal process, experiments show that path planning is more efficient with the boustrophedon partition of unity method and the long-side reciprocating traversal algorithm. Aiming at the “dead zone”, an improved A-star algorithm is proposed on the basis of the traditional A-star algorithm, that it can shorten about 1/4 path using the proposed algorithm. Simulation shows that the improved A-star algorithm can shorten the traversal path to 40 steps but the traditional A-star algorithm needs 54 steps. Navigation test shows that the proposed algorithm can shorten the traversal path and improve traversal efficiency while ensuring the coverage of unmanned ships.