An improved RRT algorithm based on prior AIS information and DP compression for ship path planning

The slow convergence, excessive turning points and non-smooth path generation are significant challenges in ship path planning by existing RRT-related algorithms. To address these issues, this paper proposes a novel approach called PI-DP-RRT, which combines prior automatic identification system (AIS...

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Bibliographic Details
Published in:Ocean engineering Vol. 279; p. 114595
Main Authors: Gu, Qiyong, Zhen, Rong, Liu, Jialun, Li, Chen
Format: Journal Article
Language:English
Published: Elsevier Ltd 01.07.2023
Subjects:
AIS
Douglas-Deucker
Path optimization
RRT
Ship path planning
Path optimization
Ship path planning
AIS
RRT
Douglas-Deucker
ISSN:0029-8018, 1873-5258
Online Access:Get full text
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Summary:The slow convergence, excessive turning points and non-smooth path generation are significant challenges in ship path planning by existing RRT-related algorithms. To address these issues, this paper proposes a novel approach called PI-DP-RRT, which combines prior automatic identification system (AIS) information and Douglas-Peucker (DP) compression for ship path planning. Firstly, we cluster the available AIS data to construct guide regions, the guidance region can provide information to guide the target in the RRT algorithm. Next, we improve the algorithm's sampling strategy based on the guide region by using paranoid sampling, which increases convergence rate. Finally, we optimize the path by applying the improved DP algorithm and a new path optimization method to enhance its smoothness and practicability. Comparative simulation experiments are conducted in real scenarios and challenging environments. The results indicate that the proposed PI-DP-RRT algorithm outperforms other RRT-related algorithms in terms of efficiency, achieving a good balance between algorithm efficiency and accuracy. The planned path reduces the turning range and improves the smoothness of the path, which promotes the safety and efficiency of ship navigation. •This paper proposes an improved RRT algorithm based on AIS information for ship path planning.•The proposed method takes AIS data as a priori information.•Integrate DP and turning optimization algorithm to make the planned path more practical.•The proposed PI-DP-RRT algorithm effectively balances algorithm efficiency and accuracy.
ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2023.114595