Ship path planning based on bidirectional A*-APF algorithm

MENG Fanqi, SUN Xiaoxiao, ZHU Jinshan, MEI Bin, ZHENG Peijie

Journal of Dalian Fisheries University ›› 2024, Vol. 39 ›› Issue (3) : 506-515.

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Journal of Dalian Fisheries University ›› 2024, Vol. 39 ›› Issue (3) : 506-515. DOI: 10.16535/j.cnki.dlhyxb.2023-293

Ship path planning based on bidirectional A*-APF algorithm

  • MENG Fanqi,SUN Xiaoxiao,ZHU Jinshan*,MEI Bin,ZHENG Peijie
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Abstract

In order to address the existing issues of suboptimal global and local solutions in current path planning algorithms, an optimization function PathOptimization and IsClear were incorporated into the Bidirectional A* algorithm, aiming to eliminate redundant turning points and to shortening the global path distance. Additionally, a discretization step function, repulsive force threshold, and temporary endpoint were introduced to avoid local optimal solutions and oscillation problems based on the artificial potential field method. A hybrid algorithm, termed Bidirectional A*-APF algorithm, was implemented by integrating these two approaches. Comparative simulation experiments were conducted on identical grid maps using MATLAB to assess the algorithm’s performance before and after the improvements. The results showed that the hybrid algorithm reduced the average number of redundant turning points by approximately 50%, decreased the average algorithm search time by 47.5%, and shortened the average path distance by around 7%. Moreover, it safely avoided dynamic and static obstacles. The findings indicate that the Bidirectional A*-APF algorithm effectively addresses issues related to suboptimal global and local solutions.

Key words

bidirectional A* algorithm / artificial potential field method / path planning / fusion algorithm

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MENG Fanqi, SUN Xiaoxiao, ZHU Jinshan, MEI Bin, ZHENG Peijie. Ship path planning based on bidirectional A*-APF algorithm[J]. Journal of Dalian Fisheries University, 2024, 39(3): 506-515 https://doi.org/10.16535/j.cnki.dlhyxb.2023-293
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