Obstruction avoidance path planning of unmanned surface vehicle based on Dijkstra self-optimization model

In order to generate an obstruction avoidance path for unmanned surface vehicle, the Dijkstra self-optimization model is proposed in this paper. First, a Maklink undirected graph is generated according to the starting point, ending point, and obstructions, the Dijkstra algorithm is used to generate an initial path to avoid obstructions. Second, a directed graph is generated based on the initial path, the Dijkstra algorithm is used to generate the optimal path with the shorter length. The experimental results show that the Dijkstra self-optimization model can generate the shortest path to avoid obstructions. Compared with the Maklink+ACO model, this model has smaller time complexity and is the optimal solution.