Inland Waterway Ship Path Planning Based on Improved RRT Algorithm

Author:

Cao Shengshi,Fan Pingyi,Yan Tao,Xie ChengORCID,Deng Jian,Xu Feng,Shu Yaqing

Abstract

Ship path planning is crucial for the shipping industry, especially for the development of autonomous ships. Many algorithms have been developed over the last few decades to solve the ship path planning problem. However, it is still challenging for ship path planning in an inland waterway. In this paper, an improved RRT algorithm for ship path planning in complex inland waterways is proposed. The improved algorithm has a path shearing and smoothing module, and the function of keeping a safe distance between a moving ship and obstacles. In addition, the algorithm has been tested in two inland waterway scenarios, and the results have confirmed its feasibility and reliability. The path planning algorithm proposed in this research seeks to reduce the risks faced by ship navigation in inland water. It has theoretical and practical significance in improving navigation safety in complex inland waters.

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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