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This paper presents the A*-NSGA-II hybrid algorithm for cooperative path planning of aerial-maritime heterogeneous platforms (two UAVs and one USV) in offshore wind farm inspections. We model a 3D environment with turbines, signal interference zones, and bird flocks, establishing a multi-objective optimization function addressing collision avoidance, path length, task time, and safety margins. The algorithm integrates A*’s efficient path search with NSGA-II’s multi-objective optimization. Simulation in a \(350 \times 350 \times 250 \mathrm {~m}^{3}\) environment featuring three turbines, three interference zones, and two bird flocks demonstrates the solution plans collision-free paths within platform motion constraints in only 30 s. The approach effectively avoids obstacles and inter-platform collisions while optimizing inspection efficiency, providing a technical foundation for safer and more economical offshore wind farm operations.

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Collaborative Path Planning for Air-Sea Heterogeneous Platforms Based on an A*-NSGA-II Hybrid Algorithm

  • 会议论文

  • 发表日期：

    2026年

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  • Ziyi Yu,
  • Yihan Zhang,
  • Xin Zhao,
  • Bincheng Wen,
  • Yan Wu

摘要

This paper presents the A*-NSGA-II hybrid algorithm for cooperative path planning of aerial-maritime heterogeneous platforms (two UAVs and one USV) in offshore wind farm inspections. We model a 3D environment with turbines, signal interference zones, and bird flocks, establishing a multi-objective optimization function addressing collision avoidance, path length, task time, and safety margins. The algorithm integrates A*’s efficient path search with NSGA-II’s multi-objective optimization. Simulation in a \(350 \times 350 \times 250 \mathrm {~m}^{3}\) environment featuring three turbines, three interference zones, and two bird flocks demonstrates the solution plans collision-free paths within platform motion constraints in only 30 s. The approach effectively avoids obstacles and inter-platform collisions while optimizing inspection efficiency, providing a technical foundation for safer and more economical offshore wind farm operations.