Global Path Planning of Unmanned Surface Vehicle Based on Electronic Chart
基于电子海图的水面无人艇全局路径规划研究

To solve the problem of global path planning of USV(Unmanned Surface Vehicle) , a search of shortcut Dijkstra algorithm based on electronic chart was presented. The algorithm uses a dynamic grid model,overcomes the occupy memory problem of traditional Dijkstra algorithm, reduces planning time and improves planning precision. Simulation resups show that the environment model and path planning algorithm can generate safety and reasonable routes.