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International Conference on Human Systems Engineering and Design: Future Trends and Applications

IHSED 2018: Human Systems Engineering and Design pp 783–788Cite as

Path Planning Based on A* Algorithm for Unmanned Surface Vehicle

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 876))

Abstract

Path planning based on A* algorithm for unmanned surface vehicle (USV) is researched in this paper. The kinematic model of the USV is built and simplified under the reasonable assumptions. According to the position and orientation coordinates of possible obstacle, the collision conditions and workspace of unmanned surface vehicle are analyzed. For the path planning of USV, A* algorithm is designed to realize the effective and efficient motion. The collision-free path search in the free workspace of USV is carried out by using A* algorithm, and the obstacle avoidance path planning is analyzed. Then the simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.

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Author information

Authors and Affiliations

  1. Institute of Computing Technology, Chinese Academy of Sciences, No. 6 Kexueyuan South Road, Zhongguancun, Haidian District, Beijing, 100190, China

    Kang Hou, Yucheng Zhang & Sumarga Kumar Sah Tyagi

  2. School of Network Education, Beijing University of Posts and Telecommunications, No. 28 Xinjiekouwai Street, Xicheng District, Beijing, 100088, China

    Xiaojuan Lan

Authors
  1. Kang Hou
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  2. Xiaojuan Lan
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  3. Yucheng Zhang
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  4. Sumarga Kumar Sah Tyagi
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Corresponding author

Correspondence to Kang Hou .

Editor information

Editors and Affiliations

  1. Institute for Advanced Systems Engineering, University of Central Florida, Orlando, FL, USA

    Tareq Ahram

  2. University of Central Florida, Orlando, FL, USA

    Waldemar Karwowski

  3. Université de Reims Champagne-Ardenne, Reims, France

    Redha Taiar

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Hou, K., Lan, X., Zhang, Y., Tyagi, S.K.S. (2019). Path Planning Based on A* Algorithm for Unmanned Surface Vehicle. In: Ahram, T., Karwowski, W., Taiar, R. (eds) Human Systems Engineering and Design. IHSED 2018. Advances in Intelligent Systems and Computing, vol 876. Springer, Cham. https://doi.org/10.1007/978-3-030-02053-8_119

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