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中文摘要：
设计了一种基于航海雷达图像处理的规划方法，以处理水面无人艇的局部路径规划问题．利用边缘保持的去噪平滑算法和自适应阈值法对航海雷达的原始图像进行处理并建立了环境模型，采用距离寻优的Dijkstra算法搜索最佳路径，将所提出的算法经海上和湖上实验加以验证．结果表明，所得规划结果良好，搜索的路径距离较短、搜索速度较快并满足实验要求．
英文摘要：
To solve the local path planning problem of unmanned surface vehicle （USV）, this paper designed a path planning method based on marine radar image processing. An image＇s edge preserving smoothing algorithm and an adaptive threshold election algorithm were used for marine radar image processing, then a mathematic model for the environment was founded, and the path was searched by a search of shortcut Dijkstra algorithm. Good results were received from experimental data in the sea and lake,with an optimal path identified in a short time that could satisfy the experimental need.
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