Research on Unmanned Surface Vessel Aggregation Formation Based on Improved A* and Dynamic Window Approach Fusion Algorithm

The traditional A* and DWA fusion algorithm has three problems in the task of aggregation formation: one is the lack of meeting coordination strategy, the other is the inability to unify the terminal course, and the third is too many turning points in the global path. To solve the above problems, an improved algorithm is proposed. Firstly, by smoothing the global planning path, the stability of a USV heading in the navigation is improved. Then, by adding the key points of the global path, a guide path is formed to unify the terminal heading range. Finally, by adding an encounter coordination strategy, aggregation efficiency is improved. Simulation experiments were carried out in the Python environment based on this algorithm. The results show that the improved algorithm can improve the navigation obstacle avoidance ability of USVs and guide multiple USVs to finish the task of aggregation formation.