A Global Path Planning Approach based on Improved A * Algorithm for Intelligent Vessel Navigating

Path planning is the essential technology for intelligent vessels in recent years. A reasonable and appropriate path can ensure the safety and efficiency of the navigating vessels on the sea. In this paper, an improved A * algorithm is proposed to generate an applicable path for ships when navigating in a complex environment. During the searching process, the distance between the obstacle node and the candidate node, is calculated in order to keep a safe distance. In the meantime, the penalty function of the direction and velocity of current is also added to ensure safe navigation under complex environmental and weather conditions. The simulation indicates that the proposed algorithm has good performance in the searching efficiency and trajectory safety.