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Publications
Zhang, H., Zhang, J.F., Liu, J.J. and Guedes Soares, C. (2024), A novel Kino-dynamic RRT path planning algorithm considering ship maneuverability restrictions, Advances in Maritime Technology and Engineering, Guedes Soares, C. & Santos T.A. (Eds.), Taylor and Francis, London, UK, pp. 165-173.
Path planning and collision avoidance is one of the most important ways to navigation safety and efficiency. The trajectory smoothness is a key factor to adjust to ship maneuverability, which can also reduce operation frequency and reduce fuel consumption. In this paper, an improved dynamic Rapidly-Exploring Random Tree (RRT) algorithm, called Kino-dynamic RRT Algorithm, is proposed under multiple ship encounter situations in open sea with four-dimensional linear double integrator. The results show that the proposed method can generate a smoothing trajectory both considering vessel maneuverability and speed change, while keeping clearance of other obstacles under different encounter situations. The research can support ship path planning and making collision avoidance decisions in a systematic way.
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