Research on Ship Path Planning Based on Bidirectional A*-APF Algorithm

Currently, the traditional A* algorithm faces challenges such as non-optimal path planning, excessive turning points, and prolonged search times. The Artificial Potential Field (APF) method encounters issues like local optima and oscillations. To address these issues, a fusion algorithm named A*-APF is proposed, combining Bidirectional A * and the APF method. Initially, the bidirectional A * algorithm for global path planning is enhanced by incorporating the PathOptimization and IsClear functions. These additions optimize the path by eliminating redundant turning points, shortening path distances, and improving issues present in global path planning. Subsequently, the APF method is refined by introducing discretization step functions, repulsion sensing thresholds, and temporary target points to prevent local optima and oscillations. Ultimately, the two algorithms are integrated, and MATLAB simulation results indicate that the proposed algorithm reduces redundant turning points by an average of around 50%. The algorithm significantly improves search times while ensuring a shortened path distance and safe avoidance of dynamic and static obstacles.