关键词: A*算法, 自适应启发函数, Dijkstra算法, 贝塞尔曲线, 电子海图

Abstract: Aiming at the problems of slow path-finding on large maps, poor route safety, and unsmooth route during route planning of surface ships in complex ocean environments, this paper proposes a route planning method with improved A* algorithm combined with electronic charts. First, an adaptive and improved heuristic function is proposed. When searching for nodes, the location information of the target node is added to speed up the search path of the A* algorithm. Second, the safe distance forcing the route to stay away from obstacles is added to solve the traditional A*. The algorithm finds the route along the edge of obstacles, which leads to the problem of poor air route safety. Finally, the original route is optimized twice. After the turning point is extracted from the original path, the straight line reachability of any two turning nodes is judged, and the turning nodes are separated. The actual distance is converted into a distance matrix. The Dijkstra algorithm is used to optimize the key turning points with a shorter route length, and finally the second-order Bezier curve is used to smooth the route turning points to meet the requirements of smooth and easy-to-follow routes. Simulation experi-ments show that, compared with the traditional A* algorithm, the path planned by the improved algorithm has the characteristics of faster path finding, shorter route distance, and higher route safety.

Key words: A* algorithm, adaptive heuristic function, Dijkstra algorithm, Bezier curve, electronic chart