Article Details

Abstract

To address the difficulty of jointly considering static navigation constraints and wind-current environmental effects in ship path planning for inland bridge areas, a path planning method based on the Artificial Potential Field (APF) wind-current field and the Theta* algorithm is proposed. In this method, shorelines, bridge piers, non-navigable waters, and channel directions are transformed into static environmental costs. The APF method is used to construct the current field and wind field in the bridge area, and a dynamic environmental cost is established according to the relationship between the wind-current direction and the path segment direction. On this basis, path length, static environmental cost, and dynamic environmental cost are jointly incorporated into the Theta* search process to generate a global path satisfying the navigability constraints of the bridge area. The experimental results show that the proposed method can balance path safety, path continuity, and adaptability to the wind-current environment, providing a reference for ship path planning in inland bridge areas.

Keywords

inland bridge area; ship path planning; APF; wind-current field; Theta* algorithm

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About the authors

Zhu Guohong (1968-), male, Han ethnicity, from Jinshi, Hunan, senior engineer, bachelor's degree, research interests include integrated safety management and emergency rescue and salvage.