TY  - GEN
AB  - The paper presents a path planning algorithm for ship guidance in presence of obstacles, based on an ad hoc modified version of the Rapidly-exploring Random Tree (RRT*) algorithm. The proposed approach is designed to be part of a decision support system for the bridge operators, in order to enhance traditional navigation. Focusing on the maritime field, a review of the scientific literature dealing with motion planning is presented, showing potential benefits and weaknesses of the different approaches. Among the several methods, details on RRT and RRT* algorithms are given. The ship path planning problem is introduced and discussed, formulating suitable cost functions and taking into account both topological and kinematic constraints. Eventually, an existing time domain ship simulator is used to test the effectiveness of the proposed algorithm over a number of realistic operation scenarios. The obtained results are presented and critically discussed. 
AD  - Dept. of Electrical, Electronic, Telecommunications, Naval Architecture and Marine Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy.
AD  - Dept. of Electrical, Electronic, Telecommunications, Naval Architecture and Marine Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy.
AU  - Zaccone, R
AU  - Martelli, M
DA  - 2018-10-03
ID  - 7731
JF  - Conference Proceedings of iSCSS
KW  - Collision Avoidance
KW  - Ship Simulator
KW  - Path Planning
KW  - RRT
L1  - https://library.imarest.org/record/7731/files/ISCSS%202018%20Paper%20067%20Martelli%20SDG%20FINAL.pdf
L2  - https://library.imarest.org/record/7731/files/ISCSS%202018%20Paper%20067%20Martelli%20SDG%20FINAL.pdf
L4  - https://library.imarest.org/record/7731/files/ISCSS%202018%20Paper%20067%20Martelli%20SDG%20FINAL.pdf
LK  - https://library.imarest.org/record/7731/files/ISCSS%202018%20Paper%20067%20Martelli%20SDG%20FINAL.pdf
N2  - The paper presents a path planning algorithm for ship guidance in presence of obstacles, based on an ad hoc modified version of the Rapidly-exploring Random Tree (RRT*) algorithm. The proposed approach is designed to be part of a decision support system for the bridge operators, in order to enhance traditional navigation. Focusing on the maritime field, a review of the scientific literature dealing with motion planning is presented, showing potential benefits and weaknesses of the different approaches. Among the several methods, details on RRT and RRT* algorithms are given. The ship path planning problem is introduced and discussed, formulating suitable cost functions and taking into account both topological and kinematic constraints. Eventually, an existing time domain ship simulator is used to test the effectiveness of the proposed algorithm over a number of realistic operation scenarios. The obtained results are presented and critically discussed. 
PY  - 2018-10-03
T1  - A random sampling based algorithm for ship path planning with obstacles
TI  - A random sampling based algorithm for ship path planning with obstacles
UR  - https://library.imarest.org/record/7731/files/ISCSS%202018%20Paper%20067%20Martelli%20SDG%20FINAL.pdf
VL  - iSCSS 2018
Y1  - 2018-10-03
ER  -