Research on Path Planning Method of Unmanned Boat Based on Improved DWA Algorithm

Abstract

Aiming at the problem of local path planning for unmanned surface vehicles, the traditional dynamic window algorithm (DWA) has the problems of uneven obstacle avoidance path and poor adaptability to complex environments. This paper proposes a local path planning method based on improved DWA. The evaluation item that replaces the direction angle difference with the target distance is used to avoid the path from being unsmooth due to vibration. And the fuzzy logic control algorithm is introduced to dynamically adjust the weight value of the trajectory evaluation function to complete the path optimization. The introduction of the A ∗ algorithm is designed to preplan the map environment and extract key turning points as subtarget points of the local obstacle avoidance algorithm to enhance the path optimization ability. The simulation results show that the improved DWA algorithm can shorten the planned path length by 23.4% and the path smoothness by 34.8%, enabling USV to find a reasonable, efficient, and smooth path in complex environments.