水面无人艇全局路径规划常用算法简述

A Brief Description of Common Algorithms for Global Path Planning of Surface Unmanned Vehicles

摘要: 无人水面艇的研究正成为海洋装备领域日益热门的研究热点，为了使水面无人艇更自主和更智能，路径规划是一项关键技术。自上世纪提出路径规划算法以来，其得到了长足进步并取得了丰硕成果，尤其是全局路径规划算法，包括传统路径规划算法和智能仿生学路径规划算法。本文基于这两个大类(着重传统算法)，罗列其中经典算法，对于基本思想、优缺点以及部分算法的改进算法进行了归纳。最后，提出了未来开发水面无人艇全局路径规划算法的瞻望。

Abstract: The research of unmanned surface vehicles is becoming an increasingly popular research hotspot in the field of marine equipment. In order to make surface unmanned vehicles more autonomous and intelligent, path planning is a key technology. Since the path planning algorithm was proposed in the last century, it has made great progress and achieved fruitful results, especially the global path planning algorithm, including the traditional path planning algorithm and the intelligent bionic path planning algorithm. Based on these two categories (focusing on traditional algorithms), this paper lists the classic algorithms, and summarizes the basic ideas, advantages and disadvantages, and improved algorithms for some algorithms. Finally, the prospect of developing a global path planning algorithm for surface unmanned vehicles in the future is presented.