{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:32:30Z","timestamp":1760149950583,"version":"build-2065373602"},"reference-count":18,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2023,10,9]],"date-time":"2023-10-09T00:00:00Z","timestamp":1696809600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"],"award-info":[{"award-number":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"]}]},{"name":"Marine Science and Technology Innovation Project of Jiangsu Province","award":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"],"award-info":[{"award-number":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"]}]},{"name":"National Key Research and Development Program of China","award":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"],"award-info":[{"award-number":["52071131","HY2018-15","2022YFC2806002","2021YFC2801604","2022YFB4703401"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, with the continuous advancement of the construction of the Yangtze River\u2019s intelligent waterway system, unmanned surface vehicles have been increasingly used in the river\u2019s inland waterways. This article proposes a hybrid path planning method that combines an improved A* algorithm with an improved model predictive control algorithm for the autonomous navigation of the \u201cJinghai-I\u201d unmanned surface vehicle in inland rivers. To ensure global optimization, the heuristic function was refined in the A* algorithm. Additionally, constraints such as channel boundaries and courses were added to the cost function of A* and the planned path was smoothed to meet the collision avoidance regulations for inland rivers. The model predictive control algorithm incorporated a new path-deviation cost while imposing a cost constraint on the yaw angle, significantly minimizing the path-tracking error. Furthermore, the improved model predictive control algorithm took into account the requirements of rules in the cost function and adopted different collision avoidance parameters for different encounter scenarios, improving the rationality of local path planning. Finally, the proposed algorithm\u2019s effectiveness was verified through simulation experiments that closely approximated real-world navigation conditions.<\/jats:p>","DOI":"10.3390\/s23198326","type":"journal-article","created":{"date-parts":[[2023,10,9]],"date-time":"2023-10-09T07:37:50Z","timestamp":1696837070000},"page":"8326","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Hybrid Path Planning for Unmanned Surface Vehicles in Inland Rivers Based on Collision Avoidance Regulations"],"prefix":"10.3390","volume":"23","author":[{"given":"Pengcheng","family":"Gao","sequence":"first","affiliation":[{"name":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9297-4336","authenticated-orcid":false,"given":"Pengfei","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongxia","family":"Cheng","sequence":"additional","affiliation":[{"name":"College of Harbor, Coastal and Offshore Engineering, Hohai University, Nanjing 210098, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoguo","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7252-4952","authenticated-orcid":false,"given":"Daqi","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Fossen, T.I. 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