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A New Method of Ship Routing on Raster Grids, with Turn Penalties and Collision Avoidance

Published online by Cambridge University Press:  15 December 2005

Rafal Szlapczynski
Rafal Szlapczynski
Affiliation:
Gdansk University of Technology. Email: rafal@pg.gda.pl
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Abstract

The article introduces a method of finding optimal routes on raster planes. The method presented takes advantage of a new algorithm that tends to minimize a number of direction changes within a route, while steering clear of the obstacles. Two different schemes, suitable for restricted area Vessel Traffic Service (VTS) system and collision avoidance system located on the own ship are described. The VTS-oriented scheme supports VTS priority policy that may extend or override international give-way regulations. The own-ship routing scheme in a give-way situation is capable of determining the shortest safe path to the destination point. The method takes into account own ship dynamics. It has linear time and space complexities and therefore is sufficiently fast to perform real-time routing on the raster grids. Both the general method and the algorithm it uses are presented in detail in the paper. Implementation issues are also discussed.

Keywords

NavigationOptimal routeLee's algorithmCollision avoidance
Type
Research Article
Information
The Journal of Navigation , Volume 59 , Issue 1 , January 2006 , pp. 27 - 42
Copyright
© 2006 The Royal Institute of Navigation

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