Abstract: In order to solve the problem of path-planning for inland maritime unmanned surface vessel, a traversal algorithm based on inland electronic chart is presented. The grids method in the algorithm is selected to choose navigation area based on the layered inland electronic chart, using global path planning and local path planning method to find approximate navigable path. The Voronoi diagram is selected to establish the navigation path set for dynamic objects or obstacles which can be regarded as particles. Bezier curves and quadratic programming mathematical methods are used to optimize the path of the navigable which is the public area of navigation area（or minor hinders navigation area）and the navigation path set. Matlab based simulations demonstrate that when the obstacle position coordinates or destination location coordinates can generate approximate navigable path. Generating different approximate navigable path can be optimized for optimal safety navigable path, so the constructing environment model and the use of the path planning algorithm are available and effective.

Key words: Unmanned Surface Vessel（USV）, grids method, Voronoi diagram, path-planning

摘要： 为了解决内河海事无人艇路径规划问题，提出了一种基于电子江图的路径遍历算法。该算法以分层的电子江图为基础，运用全局路径规划和局部路径规划的方法寻找近似可航路径。运用栅格法在复杂多变的内河环境中选择可航区域，运用Voronoi图对动态物标或可视为质点的碍航物建立航行路径集；将可航区域（或轻微碍航区域）与航行路径集公共区域记为可航路径；并运用贝塞尔曲线和二次规划数学方法进行优化。Matlab仿真结果表明，当障碍物位置坐标不同或目的地位置坐标不同时均可以生成近似可航路径；生成的不同近似可航路径均能被优化为最优安全可航路径，所以建立的环境模型以及使用的路径规划算法是有效、可行的。

关键词: 海事无人艇, 栅格法, Voronoi图, 路径规划