Global path planning for autonomous ship: A hybrid approach of Fast Marching Square and velocity obstacles methods

Chen, Pengfei; Huang, Yamin; Papadimitriou, Eleonora; Mou, Junmin; Gelder, Pieter van

doi:10.1016/j.oceaneng.2020.107793

Cited by 75 publications

(36 citation statements)

References 32 publications

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“…In addition to our own work previously mentioned, other researchers have also applied this method to the path planning problem [ 50 , 51 , 52 , 53 , 54 , 55 ].…”

Section: Description Of the Approachmentioning

confidence: 99%

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

López

Muñoz

Quevedo

et al. 2021

Sensors

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Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square—for the planning phase—and a simple priority-based speed control—as the method for conflict resolution—is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.

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“…In addition to our own work previously mentioned, other researchers have also applied this method to the path planning problem [ 50 , 51 , 52 , 53 , 54 , 55 ].…”

Section: Description Of the Approachmentioning

confidence: 99%

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

López

Muñoz

Quevedo

et al. 2021

Sensors

View full text Add to dashboard Cite

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“…With the development of the marine industry and the rise of AIS data mining, more and more researchers use AIS to analyze maritime traffic problems [1][2][3]. Cluster analysis is to group or cluster data according to the inherent similarity and characteristics between data to achieve the purpose of data mining [4].…”

Section: Introductionmentioning

confidence: 99%

Ship AIS Trajectory Clustering: An HDBSCAN-Based Approach

Wang

Chen

et al. 2021

JMSE

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The Automatic Identification System (AIS) of ships provides massive data for maritime transportation management and related researches. Trajectory clustering has been widely used in recent years as a fundamental method of maritime traffic analysis to provide insightful knowledge for traffic management and operation optimization, etc. This paper proposes a ship AIS trajectory clustering method based on Hausdorff distance and Hierarchical Density-Based Spatial Clustering of Applications with Noise (HDBSCAN), which can adaptively cluster ship trajectories with their shape characteristics and has good clustering scalability. On this basis, a re-clustering method is proposed and comprehensive clustering performance metrics are introduced to optimize the clustering results. The AIS data of the estuary waters of the Yangtze River in China has been utilized to conduct a case study and compare the results with three popular clustering methods. Experimental results prove that this method has good clustering results on ship trajectories in complex waters.

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“…How to find the optimal path is the focus of shipping academia and must consider multiple factors, e.g., safety, economy and ship maneuverability, etc. Path planning can be classified into two major categories: global path planning and local path planning [6,7]. The definition of global path planning for autonomous ships is the same as that of mobile robots [8] and unmanned aerial vehicles [9,10].…”

Section: Introductionmentioning

confidence: 99%

“…It provides an optimal path between origin and destination in a known environment and considers more the static environment, such as geographic characteristics, meteorological information, etc. [6,11]. For long voyages, global path planning is particularly important to guide the ship to its destination.…”

Section: Introductionmentioning

confidence: 99%

Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

Zhang

Mou

Chen

et al. 2021

JMSE

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In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorporates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.

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Global path planning for autonomous ship: A hybrid approach of Fast Marching Square and velocity obstacles methods

Cited by 75 publications

References 32 publications

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments

Ship AIS Trajectory Clustering: An HDBSCAN-Based Approach

Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

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