A Two-Stage Path Planning Algorithm Based on Rapid-Exploring Random Tree for Ships Navigating in Multi-Obstacle Water Areas Considering COLREGs
A two-stage ship path planning method is proposed, based on the Rapid-exploring Random Tree (RRT) algorithm, which is composed of global path planning and local path planning, addressing the important problem of finding an economical and safe path from start to destination for ships under dynamic en...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/10/1441 |