Long-voyage route planning method based on multi-scale visibility graph for autonomous ships

Wu, Gongxing; Atilla, Incecik; Tezdogan, Tahsin; Terziev, Momchil; Wang, LingChao

doi:10.1016/j.oceaneng.2020.108242

Cited by 43 publications

(17 citation statements)

References 23 publications

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“…Thanks to the improvement of the control algorithms, the positioning system can more efficiently distribute the power to the thrusters, which translates into lower energy consumption. The group also includes all kinds of algorithms related to determining the route of the passage for a ship [38,39], steering along a given route of passage [40][41][42], and determining anti-collision maneuvers [43,44]. A separate group consists of algorithms enabling the autonomous movement of the vessel in the maritime navigation environment, including the acquisition of objects, determination of the route of the passage, steering along the designated route, implementation of anti-collision maneuvers and precise maneuvering in port areas [45][46][47][48][49].…”

Section: Methods Related To Control Algorithmsmentioning

confidence: 99%

A Comparative Analysis of Energy Consumption by Conventional and Anchor Based Dynamic Positioning of Ship

Łebkowski

Wnorowski

2021

Energies

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One of the requirements for ships equipped with dynamic positioning system is the ability to maintain a given position in various hydrometeorological conditions. At the same time, efforts at reducing electricity consumption are made in order to reduce operating costs and emissions of exhaust gases, such as sulfur oxides and greenhouse gases such as carbon dioxide (CO2). For this purpose, the ship designer at the design stage must predict both how much energy the ship will theoretically use during operation and how the expenditure can be reduced. The publication presents a comparison of energy consumption with two different approaches to ship positioning: the use of classic dynamic positioning utilizing a set of thrusters and by using a set of anchors. In order to determine the energy consumption during positioning, the matrix method was used, on the basis of which the analysis of the ability to hold the position of the ship (capability plot) was performed, in accordance with the recommendations of the classification society DNV GL. Thanks to this analysis, it was possible to find such a distribution of thrust vectors on propulsors that the ship would not lose its set position under the hydrometeorological conditions specified in the analysis. As a result of comparing the two positioning systems, it turned out that using anchor-based positioning uses 24% less energy than positioning based on a set of thrusters, which translates into 24% less CO2 emissions into the atmosphere.

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Section: Methods Related To Control Algorithmsmentioning

confidence: 99%

A Comparative Analysis of Energy Consumption by Conventional and Anchor Based Dynamic Positioning of Ship

Łebkowski

Wnorowski

2021

Energies

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“…Water Transportation. In the case of water vehicles, a solution to the problems of slow planning and poor route accuracy can be the use of a route planning method based on a multi-scale visibility graph for autonomous ships [8]. This method has the advantage of using optimal routes for autonomous ships, but the disadvantage that it cannot be used for nonautonomous ships due to the poor integration of automatic commands in ships with crews.…”

Section: Route Planningmentioning

confidence: 99%

Community- and Data-Driven Services for Multi-Policy Pedestrian Routing

Damian

Ioniţă

Anton

2022

Sensors

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Pedestrian routing is important in a multitude of public spaces, especially those characterized by a large number of newcomers. Their needs may be diverse, with priority for the shortest path, the less crowded or the less polluted one, the accessibility for reduced mobility, or the sheltering from unfavorable weather conditions. Hence, typical graph-based routing must be enriched to support multiple policies, at the choice of each person. The paper proposes a systemic approach and a set of services for orientation and accessibility, which are both community-driven and data-driven, for correctly perceiving the routing necessities and the surrounding situation. The response time to a pathfinding query depends on the types of policies applied and not only on their number, because each of them contributes to the customization of the weighted graph, although it refers to the same physical space traversed by pedestrians. The paper also presents results of loading tests for up to 5000 Virtual Users, inspired from real-life requirements and executed on a graph that models a real building in our university; different policies are applied to assess performance metrics, with simulated community feedback and sensor data.

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“…Optimal path selection needs to be determined based on the flight performance constraints, the specific mission requirements, and the flight environment constraints [5,6]. Scholars have conducted a lot of research on the UAV path planning problem and proposed a series of algorithms, such as graph-based optimization methods, including the visibility graph (VG) algorithm [7] and Voronoi diagrams [8]; the searching-based methods, including the Dijkstra [9] algorithm, A* algorithm [10] and D* algorithm [11]; the sampling-based methods, such as PRM algorithm [12] and RRT algorithm [13]; the nature-inspired methods, such as genetic algorithm (GA) [14], ant colony optimization (ACO) [15], artificial potential field algorithm [16], particle swarm optimization (PSO) [17] and fluid-based algorithm [18]; and other methods, such as control theory-based methods [19].…”

Section: Introductionmentioning

confidence: 99%

FC-RRT*: An Improved Path Planning Algorithm for UAV in 3D Complex Environment

Guo

Liu

et al. 2022

IJGI

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In complex environments, path planning is the key for unmanned aerial vehicles (UAVs) to perform military missions autonomously. This paper proposes a novel algorithm called flight cost-based Rapidly-exploring Random Tree star (FC-RRT*) extending the standard Rapidly-exploring Random Tree star (RRT*) to deal with the safety requirements and flight constraints of UAVs in a complex 3D environment. First, a flight cost function that includes threat strength and path length was designed to comprehensively evaluate the connection between two path nodes. Second, in order to solve the UAV path planning problem from the front-end, the flight cost function and flight constraints were used to inspire the expansion of new nodes. Third, the designed cost function was used to guide the update of the parent node to allow the algorithm to consider both the threat and the length of the path when generating the path. The simulation and comparison results show that FC-RRT* effectively overcomes the shortcomings of standard RRT*. FC-RRT* is able to plan an optimal path that significantly improves path safety as well as maintains has the shortest distance while satisfying flight constraints in the complex environment. This paper has application value in UAV 3D global path planning.

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Long-voyage route planning method based on multi-scale visibility graph for autonomous ships

Cited by 43 publications

References 23 publications

A Comparative Analysis of Energy Consumption by Conventional and Anchor Based Dynamic Positioning of Ship

A Comparative Analysis of Energy Consumption by Conventional and Anchor Based Dynamic Positioning of Ship

Community- and Data-Driven Services for Multi-Policy Pedestrian Routing

FC-RRT*: An Improved Path Planning Algorithm for UAV in 3D Complex Environment

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