“…The longer the path that must be passed, the longer it will take to complete the process. To solve this problem, optimization of the algorithm can be done to shorten the calculation process (9) . Research to shorten pathfinding time by A-star algorithm has been conducted by C. Liu, et al In his research, C.Liu, et al implemented Improved A-star considering water current, traffic separation, and berthing for vessel path planning, the result is more precise towards and faster its destination (10,11) .…”