Route Planning and Tracking for Ships Based on the ECDIS Platform

Wang, Qingwu; Ming, Zhong; Shi, Guangming; Zhao, Jian; Bai, Chunjiang

doi:10.1109/access.2021.3078899

Cited by 8 publications

(3 citation statements)

References 19 publications

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“…Although there are many researches and applications of autonomous cruise technology, they are mainly aimed at the road surface, while the research on water surface is rare, and few scholars have studied the automatic cruise method of USVs in inland rivers. Most of the existing autonomous cruise methods are based on global path planning [18,19], but the methods based on global path planning rely on high-precision maps, and the cost of obtaining high-precision maps is high. Xiao et al [20] proposed a method of autonomous cruising by unmanned surface vehicles, which can automatically clean the water surface.…”

Section: Autonomous Cruisementioning

confidence: 99%

River boundary detection and autonomous cruise for unmanned surface vehicles

Zhang

Ren

et al. 2023

IET Image Processing

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The detection of river boundaries is a crucial branch of the intelligent perception of unmanned surface vehicles (USVs), it can be used to determine the driving areas of USVs, and also to ensure driving safety by limiting the effective drivable areas of USVs in the river areas. Aiming to detect the boundaries of incompletely structured river channels, this study proposes a real‐time detection method for river boundaries based on a Light Detection and Ranging (LiDAR) sensor. The point clouds that are disturbed by the water surface noise are filtered firstly, and then the spatial and geometric features are extracted separately from the point cloud detected above the water surface. To prevent the error detection and missing detection, the boundary point information is predicted and calibrated in real time by Extended Kalman Filter (EKF). A planning track generation algorithm for coastal autonomous cruise without relying on high‐precision maps, and a heading and distance adaptive control method by Proportional‐Integral‐Derivative (PID), and different driving line generation methods for driving along the narrow river and wide river are proposed respectively. The experimental data verification of river boundary detection shows that the algorithm is accurate, real‐time, and robust.

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Section: Autonomous Cruisementioning

confidence: 99%

River boundary detection and autonomous cruise for unmanned surface vehicles

Zhang

Ren

et al. 2023

IET Image Processing

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“…proposed the ultimate optimization of A * (FO a * ) algorithm for USV automatic route planning, and designed a nonlinear tracking controller to ensure ship navigation on the route. The algorithm and nonlinear tracking controller are effective and deterministic for offline path planning [28]. Wang et al.…”

Section: Take Into Account Dynamic and Static Planningmentioning

confidence: 99%

PE-A* Algorithm for Ship Route Planning Based on Field Theory

Liu

Wang

2022

IEEE Access

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Route planning is the key to safe, efficient and intelligent navigation of maritime traffic. Autonomous route planning is a complex optimization problem, which requires both global route planning and local collision avoidance. In this paper, we propose an optimization algorithm which can consider both global route planning and local collision avoidance. Firstly, nonlinear constraint optimization models of obstacle limitation, safe water depth limitation and ship steering limitation are established. Then, the PE-A * algorithm and route planning framework are proposed by using potential energy field to accurately express the environment. Finally, the safety and feasibility of the route planned by PE-A * algorithm are discussed through simulation experiments. Simulation results show that PE-A * algorithm can realize both global route planning and local collision avoidance, and the safety and feasibility of the planned route are greatly improved. From the perspective of potential energy, this work proposes an automatic route planning algorithm and establishes a flexible mathematical model, which can add fuel consumption, time and other related engineering requirements into the model to plan the optimal route meeting the requirements.INDEX TERMS Ship, potential energy, A * algorithm, route planning.

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“…Final Optimized A* algorithm based on multilayer grids directly applicable in ECDIS was proposed in (51). The authors stated that although there are numerous articles regarding automatic path or route planning, only few are mature and applied on ECDIS platform.…”

Section: Mt'22 9th International Conference On Maritime Transportmentioning

confidence: 99%

Static maritime enviroment representation of electronic navigational charts in global path planning

Šakan¹,

Žuškin²,

Rudan³

et al. 2022

Maritime Transport Conference

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In past years, numerous global path planning methods have been researched and applied in maritime surface navigation. Regardless of intended usage for either decision-support in manned, or autonomous vessel navigation, path planning should generate a safe and efficient route. However, prior to route generation, static maritime environment representation must be created first. Whether it is transformed in to discrete or continuous form, common approach is to use Electronic Navigational Charts (ENCs) as a basis for maritime environment representation. Nevertheless its origins, ENCs still adhere to inherited data generalisations and simplifications to be comprehensible for human navigators. This leads to limitations when considering path planning and spatial resolution at different chart scales. Furthermore, when generating the representation and path, uncertainty must be considered since the quality and accuracy of chart data varies. Although these topics have been addressed separately in their respective domains, their relations have not been researched in detail. The aim of the proposed paper is the review of electronic navigational charts, environment representation and common global path planning approaches’ relations. Forthcoming standards and technologies, such as usage of high-density charts, are presented and discussed as well.

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Route Planning and Tracking for Ships Based on the ECDIS Platform

Cited by 8 publications

References 19 publications

River boundary detection and autonomous cruise for unmanned surface vehicles

River boundary detection and autonomous cruise for unmanned surface vehicles

PE-A* Algorithm for Ship Route Planning Based on Field Theory

Static maritime enviroment representation of electronic navigational charts in global path planning

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