Path Planning Based on Electronic Navigational Charts for USV

Abstract

The path planning technology is the foundation of Unmanned Surface Vehicle(USV), and is the key to ensure the safety, efficiency and reliability of USV . This paper studies the global path planning technology of USV using the improved A* algorithm. The motion model of the USV is built and simplified under the some feasible assumptions. Then Based on two-dimensional electronic navigational charts and through the feasibility analysis of elements on the ENC.We use Photoshop software for electronic navigational charts classification, and use Matlab coding grid ENC environment model. Then using the improved A* algorithm to plan the optimal path, and evaluating and optimizing the planned path, finally reseting into the Electronic Navigational Chart. According to these steps, this paper realizes the Unmanned Surface Vehicle global path planning. The simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.