PID Controller Enhanced A* Algorithm for Efficient Water Boat

Abstract

The integration of a PID controller into the A* algorithm presents a novel approach to enhance water boat path planning efficiency. This fusion leverages the precision of the PID controller to fine-tune the navigation decisions made by the A* algorithm, optimizing trajectory adjustments and overcoming challenges posed by dynamic water environments. The PID controller dynamically adjusts the boat's heading based on real-time feedback, ensuring smoother path execution and faster convergence towards the optimal route. This innovative synergy between a classical pathfinding algorithm and a feedback control system addresses the complexities of water-based scenarios, where unpredictable currents, obstacles, and varying conditions necessitate adaptive strategies. The proposed PIDenhanced A* algorithm not only enhances path planning accuracy but also exhibits improved resilience in the face of environmental uncertainties, making it a promising solution for efficient and reliable autonomous watercraft navigation in diverse and challenging aquatic settings. the results show that the A* algorithm with PID controller is superior to the original A* without PID controller with respect to mean path length and standard deviation with a reduction of up to 23% which leads to improved path planning for proposed environment.