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Publications
Hinostroza, M. A. and Guedes Soares, C. (2021), “Global and local path-planning algorithm for marine autonomous surface ships including forecasting information”, Developments in Maritime Technology and Engineering, Guedes Soares, C. & Santos T.A., (Eds.), Taylor and Francis, London, UK, Vol 2, pp. 187-196.
This paper presents a novel technique for global and local path-planning of autonomous surface ships, which is based in the fast-marching square method and includes forecasting data, to compute an optimal path in a global route, such as transatlantic voyages. The global path-planning employs the fast marching square method and the ship responses in waves to compute a global path, while the local planner is utilized to manage the near-field changes. The local path-planning is based in angle-guidance fast marching square method and computes an optimal path in a small complex region including dynamic and static obstacles. In order to validate the developed system a set of numerical simulations were carried out. From these simulations the influence of the forecasting information in the computation of the optimal path was observed.
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