Dynamic Obstacle Avoidance Algorithm for Unmanned Vessels Based on FDWA and IBA*—IGWO Fusion

Abstract

This paper proposes a dynamic obstacle-avoidance algorithm for unmanned surface vehicles (USVs) that combines a Fuzzy-enhanced Dynamic Window Approach (FDWA) with an Improved Bidirectional A*–Improved Grey Wolf Optimizer (IBA*–IGWO) framework. Firstly, the traditional dynamic window method (DWA) is improved by adopting an initial heading angle optimization strategy to reduce the heading deviation of unmanned vessels during cruising. Secondly, a fuzzy controller is introduced, which can adaptively adjust the weight coefficients in the cost function of the DWA algorithm based on the current position of the unmanned vessel, surrounding environmental information, etc., to improve obstacle avoidance ability and adaptability in different environments. Finally, using the global static cruise route provided by the IBA*–IGWO algorithm, key nodes are selected as local endpoints for the FDWA algorithm to ensure that the unmanned vessel can perform cruise tasks according to the optimal plan during navigation and make dynamic adjustments in case of emergencies. The simulation results demonstrate the feasibility of the proposed method in handling unknown and dynamic obstacles under the current grid-based experimental settings, while enabling the USV to return to the pre-planned global route after local obstacle avoidance. These results provide a basis for further development toward more robust and rule-aware autonomous navigation in realistic maritime environments.

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