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An Improved A-star algorithm considering water current, traffic separation and berthing for vessel path planning

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成果类型:
期刊论文
作者:
Liu, Chenguang;Mao, Qingzhou*;Chu, Xiumin;Xie, Shuo
通讯作者:
Mao, Qingzhou
作者机构:
[Liu, Chenguang] Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & R, Wuhan 430079, Hubei, Peoples R China.
[Mao, Qingzhou] Wuhan Univ, Sch Remote Sensing & Informat Engn, Wuhan 430079, Hubei, Peoples R China.
[Xie, Shuo; Chu, Xiumin] Wuhan Univ Technol, Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Hubei, Peoples R China.
通讯机构:
[Mao, Qingzhou] W
Wuhan Univ, Sch Remote Sensing & Informat Engn, Wuhan 430079, Hubei, Peoples R China.
语种:
英文
关键词:
A-Star algorithm;Berthing;Current effect;Ship path planning
期刊:
Applied Sciences-Basel
ISSN:
2076-3417
年:
2019
卷:
9
期:
6
基金类别:
China Postdoctoral Science FoundationChina Postdoctoral Science Foundation [2018M632923]; Wuhan Science and Technology Project [2017010201010132]; Fundamental Research Funds for the Central UniversitiesFundamental Research Funds for the Central Universities [2042017KF0235]
机构署名:
本校为其他机构
院系归属:
水路公路交通安全控制与装备教育部工程研究中心
摘要:
A traditional A-Star (A*) algorithm generates an optimal path by minimizing the path cost. For a vessel, factors of path length, obstacle collision risk, traffic separation rule and manoeuvrability restriction should be all taken into account for path planning. Meanwhile, the water current also plays an important role in voyaging and berthing for vessels. In consideration of these defects of the traditional A-Star algorithm when it is used for vessel path planning, an improved A-Star algorithm has been proposed. To be specific, the risk models ...

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