Towards use of Dijkstra Algorithm for Optimal Navigation of an Unmanned Surface Vehicle in a Real-Time Marine Environment with results from Artificial Potential Field
Journal Title: TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation - Year 2018, Vol 12, Issue 1
Abstract
The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.
Authors and Affiliations
Yogang Singh, Sanjay Sharma, Robert Sutton, Daniel Hatton
Keywords
Related Articles
- EP ID EP276475
- DOI 10.12716/1001.12.01.14
- Views 185
- Downloads 0
Methodology for Training in the Use of Radiotelephone Procedures in the Navy
Learning the radiotelephone procedures and rules for naval operations in allied and coalition format is a challenge for the training of communications specialists. This paper proposes a training methodology developed on...
Measuring Container Port Complementarity and Substitutability with Automatic Identification System (AIS) Data – Studying the Inter-port Relationships in the Oslo Fjord Multi-port Gateway Region
This paper considers the degree of competition among small and medium-sized container ports located in a multi-port gateway region. The level of port competition is evaluated by means of an analysis of the revealed prefe...
Control System of Training Ship Keeping the Desired Path Consisting of Straight-lines and Circular Arcs
Presented in this paper is a new, expanded approach to setting the planned route within restricted sea areas where there are permanent obstacles or other vessels, and then tracking it by the ship. In this project the des...
Determination of the Territorial Sea Baseline – Aspect of Using Unmanned Hydrographic Vessels
Nowadays, most merchant vessels use Heavy Fuel Oils (HFOs) for the ship propulsion. These fuels are cost effective but they produce significant amounts of noxious emissions. To comply with IMO & MARPOL environmental regu...
Long Term Validation of High Precision RTK Positioning Onboard a Ferry Vessel Using the MGBAS in the Research Port of Rostock
In order to enable port operations, which require an accuracy of about 10cm, the German Aerospace Center (DLR) operates the Maritime Ground Based Augmentation Service (MGBAS) in the Research Port of Rostock. The MGBAS re...