Intelligent Obstacle Avoidance and Path Planning for Unmanned Vessels Based on an Improved Bug2 Algorithm

With the rapid development of artificial intelligence technology, the demand for intelligence in unmanned vessels is becoming increasingly prominent. One of the core problems in the process of automatic navigation of unmanned vessels is how to make effective collision avoidance decisions in time. In this paper, an improved Bug2 algorithm is proposed, which introduces angle determination and bypassing strategy in the traditional Bug2 algorithm, effectively solves the deficiencies of the conventional Bug2 algorithm in the fixed obstacle avoidance direction and timing of the movement, and significantly improves the dynamic obstacle avoidance performance of the algorithm. The dynamic obstacle simulation test verifies that the algorithm has high real-time and strong path planning ability. After that, the unmanned boat control system is designed, and in the physical test on the lake, the unmanned boat can rely on the improved Bug2 algorithm to plan the obstacle avoidance path in time when encountering obstacles, realizing the autonomous obstacle avoidance, which provides solid technical support for intelligent navigation in the complex sea area.