文档介绍：上 海 海 事 大 学 学 报
第 43 卷 第 2 期 rt College Shandong University of Science and Technology Qingdao 266590 Shandong China
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Abstract To address the global path planning issue of unmanned surface vessels USVs in waters with
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dense obstacles this paper proposes a path planning method based on the improved A algorithm． The
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redundant information of shipborne radar images is removed by the pixel threshold method and the grid
method is used to carry out the environment modeling． The node obstacle detection method is proposed to
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optimize the path planning of USVs and the evaluation function is improved to reduce the total number of
traversal nodes． The redundant nodes on the planned path are smoothed． The simulation results show
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that compared with A algorithm the proposed improved A algorithm can ensure that USVs are away