Crest of the Royal National Institution of Naval Architects - Click to return to the homepage


MarintechChina Until June 2022

Hybrid Expo

SMM May_June 2022


International Registries May 2022

Air Products May 2022

IJME 530

Paper Title: An Efficient Graph Theory-Based Algorithm for Ship Trajectory Planning 



A Lazarowska, Gdynia Maritime University, Poland


The research presented in this paper is dedicated to the development of a path planning algorithm for a moving object in a dynamic environment. The marine environment constitutes the application area. A graph theory-based path planning method for ships is introduced and supported by the results of simulation tests and comparative analysis with a heuristic Ant Colony Optimization approach. The method defines the environment with the use of a visibility graph and uses the A* algorithm to find the shortest, collision-free path. The main contribution is the development of an effective graph theory-based algorithm for path planning in an environment with static and dynamic obstacles. The computational time does not exceed a few seconds. Obtained results allow to state that the method is suitable for use in an intelligent motion control system for ships.



Transactions RINA, Vol 161, Part A2, International Journal Maritime Engineering, Apr - Jun 2019 

DOI Number

DOI No: 10.3940/rina.ijme.2019.a2.530

Search and Order IJME papers

All International Journal of Maritime Engineering (IJME) papers are listed in the RINA Publications Database. You can search the database by author name and paper title. Publications may be ordered and paid for online. Other publications are also listed, some of which may be downloaded free of charge. Follow the link to Search Publications & Order.

RINA membership

Cyber Security On Demand Button


Teinbridge Propeller

Euronaval Apr - Oct 2022

Uni Stratchclyde June 2021

Metstrade May 2022