A Novel Algorithm for Ship Route Planning Considering Motion Characteristics and ENC Vector Maps

Abstract

Global route planning is a pivotal function of unmanned surface vehicles (USVs). For ships, the safety of navigation is the priority. This paper presents the VK-RRT* algorithm as a way of designing the planned route automatically. Different from other algorithms or studies, this study employs electronic navigation chart (ENC) vector data instead of grid maps as the basis of the search, which reduces data error when converting the vector map into the grid map. In addition, Delaunay triangulation is employed to organize vector data, in which the depth value is taken as a factor to ensure the safety of the planning route. Furthermore, the initial planned route is not suitable for ship tracking as it does not consider the ship motion characteristics. Therefore, the planned route needs to be further optimized. In the final part, we also conducted experiments to verify the effectiveness and advantages of the proposed algorithm. The results show that the proposed algorithm could reduce the lengths of paths by about 23% on average and save planning time; these are largely dependent on the environment.

Global Path Planning for Autonomous Ship Navigation Considering the Practical Characteristics of the Port of Ulsan

“…Studies have also evaluated the A* algorithm's effectiveness in varying directions, from four to thirty-two, to optimize global path planning in areas near wind farms [23]. The authors of another study considered motion characteristics and ENCs of areas such as those near the port sea area using a route planning algorithm [24]. The A* algorithm and dynamic window methods are instrumental in complex port terrains, focusing on comprehensive path planning and collision avoidance [25].…”

A Method for Coastal Global Route Planning of Unmanned Ships Based on Human-like Thinking

“…The author underscored potential enhancements through parameter optimization and 3D map model construction. A route planning method considering vessel motion characteristics and Electronic Navigational Chart (ENC) vector charts was proposed by He et al [24], aiming to reduce errors generated during the conversion of vector maps to grid maps. In order to reduce the safety hazards and carbon emissions of ships in the collision avoidance process, Gao et al [25] proposed a potential field ant colony algorithm for ship collision avoidance path planning.…”