Multi-purpose cruise path planning based on the two-way A-star and the gray wolf algorithms

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Multi-purpose cruise path planning based on the two-way A-star and the gray wolf algorithms
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                        Wang MinWang Min
1.School of Electronics and Information Engineering, Nanjing University of Information Science and Technology，Nanjing 210044, China；3.School of Electronics and Information Engineering, Anhui Jianzhu University, Hefei 230601, China
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Shi Minghang1Shi Minghang
School of Electronics and Information Engineering, Nanjing University of Information Science and Technology，Nanjing 210044, China
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Hong Mei2Hong Mei
Institute of Meteorology and Oceanography, National University of Defense Technology, Changsha 410073, China
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Li Yongshun1Li Yongshun
School of Electronics and Information Engineering, Nanjing University of Information Science and Technology，Nanjing 210044, China
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Tian Zikang1Tian Zikang
School of Electronics and Information Engineering, Nanjing University of Information Science and Technology，Nanjing 210044, China
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Affiliation:1.School of Electronics and Information Engineering, Nanjing University of Information Science and Technology，Nanjing 210044, China; 2.Institute of Meteorology and Oceanography, National University of Defense Technology, Changsha 410073, China; 3.School of Electronics and Information Engineering, Anhui Jianzhu University, Hefei 230601, China
Clc Number:TP391.9;TN96
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Abstract:

A path planning method based on an improved synchronous bidirectional A-star algorithm and grey wolf optimization algorithm is proposed for the multiobjective cruising path planning problem of unmanned boats. Firstly, the traditional A-star algorithm has been improved by introducing a synchronous bidirectional search strategy and dynamic weight adjustment, reducing path redundancy points and algorithm computation time. Then, the cruise path planning problem is transformed into a classic traveling salesman problem and solved using an improved grey wolf optimization algorithm to obtain the optimal cruise path. The experimental results show that the method proposed in this paper is superior to traditional methods in terms of total distance, number of turns, and computation time in path planning. It can effectively improve the cruising efficiency and safety of unmanned boats and provide a reliable solution for multi-target point cruising tasks of unmanned boats.

Key words:unmanned boat;multi-target point cruise;A-star algorithm;traveling salesman problem;improved gray wolf algorithm

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Online: February 24,2025
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