UUV Dynamic Path Planning Algorithm Based on A-Star and Dynamic Window

In order to enable the unmanned ship to have the ability of autonomous path planning in the complex marine environment, which can avoid obstacles and reach the destination accurately in the unknown environment. In this paper, a new unmanned ship dynamic path planning algorithm is proposed by combining the global optimal characteristic of A* algorithm with the real-time performance of dynamic window method. Simulation results in static and dynamic environments show that the algorithm can complete the task of path planning and obstacle avoidance and reach the destination, which shows the rationality and effectiveness of the algorithm. The path planning algorithm based on the combination of A* algorithm and dynamic window method performs well in the simulation experiment and meets the needs of the operation and use of the unmanned ship in the static or dynamic environment. This algorithm can be carried in the actual environment to realize the autonomous navigation of the unmanned ship.