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http://dx.doi.org/10.26748/KSOE.2019.067

Modified A* Algorithm for Obstacle Avoidance for Unmanned Surface Vehicle  

Vo, Anh Hoa (Department of Naval Architecture and Marine Engineering, Changwon National University)
Yoon, Hyeon Kyu (Department of Naval Architecture and Marine Engineering, Changwon National University)
Ryu, Jaekwan (Unmanned/Robotic Systems, LIG Nex1 Co., Ltd.)
Jin, Taekseong (Unmanned/Robotic Systems, LIG Nex1 Co., Ltd.)
Publication Information
Journal of Ocean Engineering and Technology / v.33, no.6, 2019 , pp. 510-517 More about this Journal
Abstract
Efficient path planning is essential for unmanned surface vehicle (USV) navigation. The A* algorithm is an effective algorithm for identifying a safe path with optimal distance cost. In this study, a modified version of the A* algorithm is applied for planning the path of a USV in a static and dynamic obstacle environment. The current study adopts the A* approach while maintaining a safe distance between the USV and obstacles. Two important parameters-path length and computational time-are considered at various start times. The results demonstrate that the modified approach is effective for obstacle avoidance by a USV that is compliant with the International Regulations for Preventing Collision at Sea (COLREGs).
Keywords
$A^*$ algorithm; Path planning; Unmanned surface vehicle; Obstacle avoidance; COLREGs;
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