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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

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