Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 43, 2026 No. 3
775-782

Integrated A* algorithm and model predictive control for sea-air coordinated dynamic path planning

Li Ming
Li Sirun
Chen Haoran
Jin Yu
Zhang Xiangyong
Zhang Heng
School of Computer Engineering, Jiangsu Ocean University, Lianyungang Jiangsu 222005, China
DOI: 10.19734/j.issn.1001-3695.2025.07.0276

Abstract

To address the challenges of low efficiency, poor real-time performance, and insufficient dynamic adaptability in sea-air cooperative path planning within complex marine environments, this study proposed a dynamic path planning method named A*-MPC that integrated a novel A* algorithm with model predictive control the model(MPC). Firstly, this paper constructed a multi-constraint path optimization model for unmanned surface vehicle(USV) and solved using a dynamic weight A* algorithm to achieve path planning under ocean current disturbances. Secondly, it established a spatiotemporal optimization model for unmanned aerial vehicle(UAV) and solved the model using the A* algorithm combined with sector sparse optimization to obtain three-dimensional path planning. Finally, it adopted a hierarchical MPC strategy to realize sea-air coordination. Simulation results demonstrate that the proposed algorithm outperforms comparative methods in computational time(1.5±0.5 s), path smoothness(index of 9.24), and obstacle avoidance capability(collision risk of 3.7U). Specifically, it achieves a 13.3% reduction in path length and a 59.3% improvement in smoothness compared to the traditional A* algorithm, providing efficient and safe decision support for dynamic marine rescue missions.

Foundation Support

国家自然科学基金资助项目(12401679)
江苏省高等学校基础科学(自然科学)研究面上项目(23KJB520006)
江苏省大学生创新创业训练计划项目(SY202411641639006)
江苏海洋大学“海州湾”英才创新计划项目(PD2024026)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.07.0276
Publish at: Application Research of Computers Printed Article, Vol. 43, 2026 No. 3
Section: Algorithm Research & Explore
Pages: 775-782
Serial Number: 1001-3695(2026)03-016-0775-08

Publish History

[2025-11-18] Accepted Paper
[2026-03-05] Printed Article

Cite This Article

李明, 李思润, 陈浩冉, 等. 融合A*算法与模型预测控制的海空协同动态路径规划方法 [J]. 计算机应用研究, 2026, 43 (3): 775-782. (Li Ming, Li Sirun, Chen Haoran, et al. Integrated A* algorithm and model predictive control for sea-air coordinated dynamic path planning [J]. Application Research of Computers, 2026, 43 (3): 775-782. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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