Ship collision avoidance route planning using CRI-based A* algorithm

作者：Chanhee Seo, Y. Noh, Misganaw Abebe, Young-Jin Kang, Sunyoung Park, Cheolhyeon Kwon · 发表于：International Journal of Naval Architecture and Ocean Engineering · 年份：2023 · DOI：10.1016/j.ijnaoe.2023.100551 · 被引用次数：38

This study presents a novel ship route planning algorithm that takes into account both operational economy and safety by integrating the A * algorithm with a collision avoidance algorithm that evaluates the Collision Risk Index (CRI) between the own ship and the target ship. The CRI-based A * algorithm de fi nes a penalty zone, allowing the own ship to explore safe routes based on the International Regulations for Preventing Collisions at Sea 1972 (COLREGs) and performs an adaptive and effective node search on an extended local map grid according to various encounter situations. The proposed algorithm is validated through simulations of head-on, fi ne-broad crossing, converging crossing, and overtaking encounters, indicating an economical and safe optimum route compared to conventional ship domain-based route planning. © 2023 Society of Naval Architects of Korea. Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).