Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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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.)
  • Received : 2019.08.05
  • Accepted : 2019.11.11
  • Published : 2019.12.30
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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).

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References

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