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To improve the efficiency of unmanned ships in completing water quality monitoring in complex working environments, an improved A* algorithm for global static path planning and an improved A * algorithm combined with artificial potential field method for local dynamic path planning were proposed. Firstly, the obstacles were inflated using a global algorithm, and the A* algorithm was improved by expanding the node search neighborhood method, so that the search movement direction of the current path point was no longer limited to integer multiples of 45 °. To improve the ability of dynamic path planning, the path points planned by the A* algorithm were used as local target points in the artificial potential field method. The artificial potential field method was improved by introducing distance factors and escape forces to solve the problem of unreachable targets and easy getting stuck in the minimum value. Finally, the effectiveness of the method was verified using Matlab. The results show that the unmanned ship could smoothly reach and pass through the water quality monitoring point. Compared with the traditional A* algorithm, the obtained path is smoother and the distance is shorter, effectively improving the efficiency of water quality monitoring.
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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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