Ship Path Planning Based on Sparse A^(*)Algorithm  

基于稀疏A^(*)算法的船舶路径规划

作　　者：Yongjian Zhai Jianhui Cui Fanbin Meng Huawei Xie Chunyan Hou Bin Li 翟永剑;崔建辉;孟凡彬;谢华伟;侯春艳;李彬

机构地区：[1]Maritime College,Tianjin University of Technology,Tianjin 300384,China [2]Tianjin Navigation Instrument Research Institute,Tianjin 300131,China

出　　处：《哈尔滨工程大学学报(英文版)》2025年第1期238-248,共11页Journal of Marine Science and Application

基　　金：Supported by the Tianjin University of Technology Graduate R esearch Innovation Project(YJ2281).

摘　　要：An improved version of the sparse A^(*)algorithm is proposed to address the common issue of excessive expansion of nodes and failure to consider current ship status and parameters in traditional path planning algorithms.This algorithm considers factors such as initial position and orientation of the ship,safety range,and ship draft to determine the optimal obstacle-avoiding route from the current to the destination point for ship planning.A coordinate transformation algorithm is also applied to convert commonly used latitude and longitude coordinates of ship travel paths to easily utilized and analyzed Cartesian coordinates.The algorithm incorporates a hierarchical chart processing algorithm to handle multilayered chart data.Furthermore,the algorithm considers the impact of ship length on grid size and density when implementing chart gridification,adjusting the grid size and density accordingly based on ship length.Simulation results show that compared to traditional path planning algorithms,the sparse A^(*)algorithm reduces the average number of path points by 25%,decreases the average maximum storage node number by 17%,and raises the average path turning angle by approximately 10°,effectively improving the safety of ship planning paths.

关 键 词：Sparse A^(*)algorithm Path planning RASTERIZATION Coordinate transformation Image preprocessing 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] U664.82[自动化与计算机技术—控制科学与工程] U665.26[交通运输工程—船舶及航道工程]