基于改进A*算法的无人船自动靠泊路径规划-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Autonomous Berthing Path Planning of Unmanned Vessels Based on an Enhanced A* Algorithm

作者:: 杨理驰1; 史圣哲2; 杨静雷1; 俞万能1; 廖卫强1; （1.集美大学轮机工程学院，福建厦门 361021；2.中航工业集团特种飞行器研究所，湖北荆门 448035）

Author(s):: YANG Lichi1; SHI Shengzhe2; YANG Jinglei1; YU Wanneng1; LIAO Weiqiang1; （1.School of Marine Engineering,Jimei University,Xiamen 361021,China;2.AVIC Special Vehicle Research Institute,Jinmen 448035,China）

Keywords:: unmanned vessel; automatic berthing; improved A* algorithm; attitude constraints; path smoothing

摘要:: 针对传统A*算法在无人船自动靠泊路径规划中存在的冗余节点多、路径转折突兀以及终点航向难以满足靠泊姿态要求等问题，提出一种基于改进A*算法的靠泊路径规划方法。该方法在全局规划阶段引入 JPS 跳点机制与优化启发函数，以减少冗余节点扩展并提升搜索效率；在路径优化阶段结合贝塞尔曲线平滑处理与自适应末端控制点调整，实现靠泊末端航向的精确约束。仿真结果显示，在满足避障安全距离的前提下，与传统启发函数相比，新方法扩展节点数减少约35%，搜索时间缩短约18.5%，路径平滑度提升59.1%，靠泊终点航向角偏差由53.9°显著降低至5°以内，有效满足了无人船精确靠泊的姿态要求。实验结果验证了该方法在复杂港口环境中的适用性与鲁棒性。

Abstract:: To address the issues of redundant nodes,abrupt path turns,and the difficulty of meeting berthing orientation requirements in traditional A* algorithms for unmanned surface vehicle automatic berthing,this paper proposes an improved A* path planning method.At the global planning stage,the jump point search mechanism and an optimized heuristic function are introduced to reduce redundant node expansion and enhance search efficiency.At the path optimization stage,Bézier curve smoothing is combined with adaptive terminal control point adjustment to achieve precise constraints on the final berthing heading.Simulation results demonstrate that,while maintaining a safe obstacle avoidance distance,the proposed method reduces the number of expanded nodes by at least 35% and search time by approximately 18.5% compared to the traditional heuristic.Furthermore,path smoothness is improved by 59.1%,and the final berthing heading angle deviation is significantly reduced from 53.9° to within 5°,effectively meeting the attitude requirements for precise USV berthing.Experimental results verify the applicability and robustness of the proposed method in complex port environments.