Automatic Route Planning for Ship with High Tightness and Efficiency
DAI Zeyuan
ZHOU Yinfei
ZHANG Lihua
JIA Shuaidong
WU Di
Abstract：Due to the limitations of the existing methods that with weak tightness and efficiency when using multiple charts fused obstacle data,a method for automatically route planning for ship based on adaptive and constrained Delaunay triangulation is proposed.First,from the perspective of free space theory,the spatial filling points and the boundary of obstacles is extracted from charts,and the adaptive and constrained Delaunay triangulation is constructed to reduce the complexity of space.Next,the network map is constructed,and an improved Bidirectional A*algorithm is proposed to reduce the impact of data volume on the route plan-ning algorithm.Finally,considering the possible precision error of the method above in route distance,an"inflection point"algo-rithm is proposed to smoothing and optimizing the route.The experimental results demonstrate that the proposed method absorb the advantages of the existing methods,and can generate the route between two arbitrary points at sea based on high-precision geograph-ic information.Besides,with a controllable error,the proposed method with more efficiency than that for the existing methods,ex-panding the applicability of this method.
Keywords：adaptive triangulationroute planningfree spaceimproved A*algorithminflection point algorithm
Publication Date：2025-03-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 43-49 )