{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T04:04:40Z","timestamp":1784001880091,"version":"3.55.0"},"reference-count":30,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2024,6,21]],"date-time":"2024-06-21T00:00:00Z","timestamp":1718928000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"China Liaoning Province Higher Education Institutions Overseas Training Project","award":["2018LNGXGJWPY-YB014"],"award-info":[{"award-number":["2018LNGXGJWPY-YB014"]}]},{"name":"China Liaoning Province Higher Education Institutions Overseas Training Project","award":["JYTZD2023081"],"award-info":[{"award-number":["JYTZD2023081"]}]},{"name":"China Liaoning Province Higher Education Institutions Overseas Training Project","award":["2022-MS-376"],"award-info":[{"award-number":["2022-MS-376"]}]},{"name":"China Liaoning Provincial De-partment of Education","award":["2018LNGXGJWPY-YB014"],"award-info":[{"award-number":["2018LNGXGJWPY-YB014"]}]},{"name":"China Liaoning Provincial De-partment of Education","award":["JYTZD2023081"],"award-info":[{"award-number":["JYTZD2023081"]}]},{"name":"China Liaoning Provincial De-partment of Education","award":["2022-MS-376"],"award-info":[{"award-number":["2022-MS-376"]}]},{"name":"China Liaoning Provincial Natural Fund Grant Program Project","award":["2018LNGXGJWPY-YB014"],"award-info":[{"award-number":["2018LNGXGJWPY-YB014"]}]},{"name":"China Liaoning Provincial Natural Fund Grant Program Project","award":["JYTZD2023081"],"award-info":[{"award-number":["JYTZD2023081"]}]},{"name":"China Liaoning Provincial Natural Fund Grant Program Project","award":["2022-MS-376"],"award-info":[{"award-number":["2022-MS-376"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In view of the fact that the global planning algorithm cannot avoid unknown dynamic and static obstacles and the local planning algorithm easily falls into local optimization in large-scale environments, an improved path planning algorithm based on the integration of A* and DWA is proposed and applied to driverless ferry vehicles. Aiming at the traditional A* algorithm, the vector angle cosine value is introduced to improve the heuristic function to enhance the search direction; the search neighborhood is expanded and optimized to improve the search efficiency; aiming at the problem that there are many turning points in the A* algorithm, a cubic quasi-uniform B-spline curve is used to smooth the path. At the same time, fuzzy control theory is introduced to improve the traditional DWA so that the weight coefficient of the evaluation function can be dynamically adjusted in different environments, effectively avoiding the problem of a local optimal solution. Through the fusion of the improved DWA and the improved A* algorithm, the key nodes in global planning are used as sub-target punctuation to guide the DWA for local planning, so as to ensure that the ferry vehicle avoids obstacles in real time. Simulation results show that the fusion algorithm can avoid unknown dynamic and static obstacles efficiently and in real time on the basis of obtaining the global optimal path. In different environment maps, the effectiveness and adaptability of the fusion algorithm are verified.<\/jats:p>","DOI":"10.3390\/s24134041","type":"journal-article","created":{"date-parts":[[2024,6,21]],"date-time":"2024-06-21T05:33:28Z","timestamp":1718948008000},"page":"4041","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Research on Path Planning Algorithm of Driverless Ferry Vehicles Combining Improved A* and DWA"],"prefix":"10.3390","volume":"24","author":[{"given":"Zhaohong","family":"Wang","sequence":"first","affiliation":[{"name":"School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4501-7431","authenticated-orcid":false,"given":"Gang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"012028","DOI":"10.1088\/1757-899X\/1022\/1\/012028","article-title":"Autonomous cars: Recent developments, challenges, and possible solutions","volume":"1022","author":"Singh","year":"2021","journal-title":"IOP Conf. 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