zhouda98 / global_path_planning_for_usv Goto Github PK
View Code? Open in Web Editor NEWThis project forked from wylloong/global_path_planning_for_usv
This repository uses the S-57 electronic chart to build the octree grid environment model, and proposes an improved A* algorithm based on sailing safety weight, pilot quantity and path curve smoothing to ensure the safety of the route, reduce the planning time, and improve path smoothness.