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To address the challenge of coordinated optimization between collision avoidance planning and motion constraints in the scenario where ships navigate close to dynamic surface targets, a hierarchical path planning method integrating the improved A* algorithm, rapid reverse search iterative planning (RRSIP), and Hybrid A* fine-grained planning, aiming to achieve efficient and kinematically compliant dynamic target tracking planning is proposed.
An improved A* algorithm based on dynamic programming and oriented bounding box obstacle detection is used to plan a global reference path, reducing path length and redundant waypoints. For the dynamic target point, the RRSIP method is proposed, which reuses node information from prior searches via reverse search to quickly iterate and predict the approach point, avoiding global replanning and improving efficiency. Hybrid A* algorithm is introduced near turning points for local refined planning, quickly generating a feasible path that satisfies ship kinematics and approach heading constraints.
Compared with other typical algorithms, the path length of the improved A* algorithm proposed is reduced by an average of 4.17% and 1.79% respectively. The RRSIP method reduces the iterative planning time by at least 33.9% compared with the FR method. While ensuring path feasibility, the local Hybrid A* planning reduces the time consumption by at least 72.1% compared with the global application.
The proposed method can effectively solve the problems of real-time performance and kinematic feasibility in dynamic target tracking, and significantly improve the autonomous tracking capability of ships in scenarios such as tugboat escort and maritime police law enforcement.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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