Global Path Planning Method Based on Improved Beetle Antenna Search Algorithm for Unmanned Surface Vehicle

In this paper, the constraint function of the maximum turning angle is designed in the fitness function of the Beetle Antenna Search algorithm (BAS) according to the characteristic that unmanned surface vehicles (USV) are not easy to turn sharply. To solve the problem of strong randomness and poor stability of the global path planning of BAS, the dynamic search step size that changes with the distance from the obstacle is used in the Improved Beetle Antenna Search algorithm (IBAS), instead of the fixed step size used in the original algorithm. Simulation results show that IBAS improves the stability and success rate of global path planning for USV. The planned path is smooth, continuous, safe, and effective. IBAS is more suitable for the path planning of USV than the original algorithm.