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.
Global_path_planning_for_USV 최신버젼 다운로드
최종 버전 다운로드 (.zip)// repository documentation
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