A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters
The challenge of Arctic sea ice environments is crucial for Arctic shipping. To address this concern, we propose an innovative method for ship path planning to enhance navigation safety and efficiency in Arctic waters. Firstly, a 3D risk grid map for path planning is developed based on POLARIS. The...
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ftchalmersuniv:oai:research.chalmers.se:542364 2024-09-15T18:35:27+00:00 A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters Sun, Youguo Wu, Da Zhang, Jinfen Lang, Xiao Ringsberg, Jonas Mao, Wengang Cui, Meng 2024 text https://research.chalmers.se/en/publication/542364 unknown https://research.chalmers.se/en/publication/542364 Applied Mechanics Vehicle Engineering Robotics 2024 ftchalmersuniv 2024-08-13T14:04:06Z The challenge of Arctic sea ice environments is crucial for Arctic shipping. To address this concern, we propose an innovative method for ship path planning to enhance navigation safety and efficiency in Arctic waters. Firstly, a 3D risk grid map for path planning is developed based on POLARIS. The JPS algorithm searches for key nodes on the 2D layers sliced from the 3D risk grid map with given risk values. Secondly, key nodes indicating different risk values are pruned to form a roadmap for path-finding. Then, the Dijkstra algorithm is employed to find the reference path yielding the lowest navigation risk from the roadmap. Finally, the ship's trajectory is optimized through optimal control to guarantee the ship's maneuver feasibility. Experiments are carried out to demonstrate the performance of the optimized trajectory, and the outcomes validate the proposed method, demonstrating its capability of rapidly planning safe and executable paths for Arctic shipping. Other/Unknown Material Sea ice Chalmers University of Technology: Chalmers research |
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Open Polar |
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Chalmers University of Technology: Chalmers research |
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ftchalmersuniv |
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unknown |
topic |
Applied Mechanics Vehicle Engineering Robotics |
spellingShingle |
Applied Mechanics Vehicle Engineering Robotics Sun, Youguo Wu, Da Zhang, Jinfen Lang, Xiao Ringsberg, Jonas Mao, Wengang Cui, Meng A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
topic_facet |
Applied Mechanics Vehicle Engineering Robotics |
description |
The challenge of Arctic sea ice environments is crucial for Arctic shipping. To address this concern, we propose an innovative method for ship path planning to enhance navigation safety and efficiency in Arctic waters. Firstly, a 3D risk grid map for path planning is developed based on POLARIS. The JPS algorithm searches for key nodes on the 2D layers sliced from the 3D risk grid map with given risk values. Secondly, key nodes indicating different risk values are pruned to form a roadmap for path-finding. Then, the Dijkstra algorithm is employed to find the reference path yielding the lowest navigation risk from the roadmap. Finally, the ship's trajectory is optimized through optimal control to guarantee the ship's maneuver feasibility. Experiments are carried out to demonstrate the performance of the optimized trajectory, and the outcomes validate the proposed method, demonstrating its capability of rapidly planning safe and executable paths for Arctic shipping. |
author |
Sun, Youguo Wu, Da Zhang, Jinfen Lang, Xiao Ringsberg, Jonas Mao, Wengang Cui, Meng |
author_facet |
Sun, Youguo Wu, Da Zhang, Jinfen Lang, Xiao Ringsberg, Jonas Mao, Wengang Cui, Meng |
author_sort |
Sun, Youguo |
title |
A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
title_short |
A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
title_full |
A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
title_fullStr |
A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
title_full_unstemmed |
A Dynamics-Constrained Rapid Path-Planning Method for Shipping in Arctic Waters |
title_sort |
dynamics-constrained rapid path-planning method for shipping in arctic waters |
publishDate |
2024 |
url |
https://research.chalmers.se/en/publication/542364 |
genre |
Sea ice |
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Sea ice |
op_relation |
https://research.chalmers.se/en/publication/542364 |
_version_ |
1810478633405382656 |