Passage Planning in Coastal Waters for Maritime Autonomous Surface Ships using the D* Algorithm
(주)코리아스칼라
- 최초 등록일
- 2023.07.03
- 최종 저작일
- 2023.05
- 7페이지/ 어도비 PDF
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* 본 문서는 배포용으로 복사 및 편집이 불가합니다.
서지정보
ㆍ발행기관 : 해양환경안전학회
ㆍ수록지정보 : 해양환경안전학회지 / 29권 / 3호
ㆍ저자명 : Hyeong-Tak Lee, Hey-Min Choi
목차
Abstract
1. Introduction
2. Materials and Methods
2.1 Target Area and Ship Trajectory Data
2.2 Navigable Area
2.3 D* and Douglas-Peucker Algorithm
3. Results
3.1 Designation of the Navigable Area
3.2 Application of the D* Algorithm
3.3 Final Passage Plan
4. Discussion
5. Conclusion
Acknowledgments
References
영어 초록
Establishing a ship's passage plan is an essential step before it starts to sail. The research related to the automatic generation of ship passage plans is attracting attention because of the development of maritime autonomous surface ships. In coastal water navigation, the land, islands, and navigation rules need to be considered. From the path planning algorithm's perspective, a ship's passage planning is a global path-planning problem. Because conventional global path-planning methods such as Dijkstra and A* are time-consuming owing to the processes such as environmental modeling, it is difficult to modify a ship's passage plan during a voyage. Therefore, the D* algorithm was used to address these problems. The starting point was near Busan New Port, and the destination was Ulsan Port. The navigable area was designated based on a combination of the ship trajectory data and grid in the target area. The initial path plan generated using the D* algorithm was analyzed with 33 waypoints and a total distance of 113.946 km. The final path plan was simplified using the Douglas–Peucker algorithm. It was analyzed with a total distance of 110.156 km and 10 waypoints. This is approximately 3.05% less than the total distance of the initial passage plan of the ship. This study demonstrated the feasibility of automatically generating a path plan in coastal navigation for maritime autonomous surface ships using the D* algorithm. Using the shortest distance–based path planning algorithm, the ship's fuel consumption and sailing time can be minimized.
참고 자료
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