The paper present a novel path planning algorithm for real-time navigation of autonomous ship agents in complex environments. The algorithm is a hybrid one of global and local methods, in which concept of convex hull is adopted for building a reverse roadmap as global information and with the guidance of reverse roadmap path is planned reactively in real-time with the motion of ship agents. The hybrid path planning algorithm not only can plan path for a single ship agent, but also can be integrated into a ship group behaviors model for marine traffic simulation. The simulation experiments of several challenging scenarios show that the algorithm is able to plan collision free path for autonomous ship agents.
A Path Planning Algorithm for Autonomous Ship Agents
Second International Conference on Transportation Engineering ; 2009 ; Southwest Jiaotong University, Chengdu, China
2009-07-29
Conference paper
Electronic Resource
English
A Path Planning Algorithm for Autonomous Ship Agents
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