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An Obstacle Avoidance Algorithm for Unmanned Surface Vehicle Based on A Star and Velocity-Obstacle Algorithms

In order to ensure the safety of autonomous navigation of unmanned surface vehicle, it is necessary to avoid static/dynamic obstacles. Therefore, a combined obstacle avoidance algorithm for the unmanned surface vehicle based on path planning and velocity obstacle algorithm is designed in the paper. A priori sea chart and perceived static obstacles are used to obtain a sea static situation map, then we complete static obstacle avoidance through A* path planning algorithm. Using the real-time sensing of dynamic obstacles, the dynamic obstacle avoidance is completed through VO algorithm (Velocity-Obstacle). Finally, efficiency of the avoidance algorithm is proved by simulation.