文章基本信息

标题：Inland Waterway Ship Path Planning Based on Improved RRT Algorithm
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作者：Cao, Shengshi ; Fan, Pingyi ; Yan, Tao 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：10
页码：1-14
DOI：10.3390/jmse10101460
语种：English
出版社：MDPI AG
摘要：Ship path planning is crucial for the shipping industry, especially for the development of autonomous ships. Many algorithms have been developed over the last few decades to solve the ship path planning problem. However, it is still challenging for ship path planning in an inland waterway. In this paper, an improved RRT algorithm for ship path planning in complex inland waterways is proposed. The improved algorithm has a path shearing and smoothing module, and the function of keeping a safe distance between a moving ship and obstacles. In addition, the algorithm has been tested in two inland waterway scenarios, and the results have confirmed its feasibility and reliability. The path planning algorithm proposed in this research seeks to reduce the risks faced by ship navigation in inland water. It has theoretical and practical significance in improving navigation safety in complex inland waters.
关键词：ship path planning; inland waters; sampling-based algorithms; rapidly exploring random tree algorithm; obstacle avoidance