Arctic sea route path planning based on an uncertain ice prediction model

• Main Author: Choi Min-Joo(최민주)
• Other Authors: Chung, Hyun(정현)
• Format: Other/Unknown Material
• Language: English
• Published: 한국과학기술원 2014
• Subjects: ice navigation system; uncertainty; 경로계획; 아이스 네비게이션; path planning; 불확실성; Arctic; Sea ice; ice covered waters
• Online Access: http://hdl.handle.net/10203/198004; http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=569632&flag=t

학위논문(석사) - 한국과학기술원 : 해양시스템공학전공, 2014.2, [ iv, 34 p. ] As the global temperature has been increasing, the ice-covered area in the Arctic re-gion has been decreasing. One of the opportunities to take advantage of the situation is the Arctic shipping between Asia and Europe. For economical and safe route selection, an ice navigation system is required for ships operating in the region, since the ice condition is changing hour after hour, and the ships sail long distances for weeks. Therefore, route selec-tion by hand is challenging. The ice model in an ice navigation system simulates dynamic sea ice behavior, and its result is delivered to an optimization model for the path planning domain. During the map generation process for the path planning, both the ice model and the input da-ta for the ice model have uncertainties, which cause prediction uncertainties in the sea ice be-havior. For safety, the uncertainties should be considered carefully. Otherwise, accidents in the extremely severe conditions can happen because of unexpected events caused by the un-certainties of the prediction. Notwithstanding the safety issues, uncertainties in the ice naviga-tion system have not been considered in previous research. In this work, the path planning problem in ice-covered waters is presented as a dynamic stochastic path planning problem by generating a map through the ensemble simulation of an ice model. And an uncertainty-based path planning model is proposed to find an optimal route under time-varying stochastic condi-tions. A heuristic path planning algorithm is employed, and different path planning models (stochastic vs. deterministic) are compared through simulations in two different scenarios for validation of the model. 한국과학기술원 : 해양시스템공학전공