Ship Collaborative Path Planning Method Based on CS-STHA

Ship path planning is one of the key technologies for ship automation. Establishing a cooperative collision avoidance (CA) multi-ship encounters great value to maritime intelligent transportation. This study aims solve problem collaborative based on algorithm Conflict Search (CS) and Space-Time Hybrid A-star (STHA). First, static CA searched each by using space-time algorithm, conflict risk area determined according safety distance constraint fuzzy Collision Risk Index (CRI). Secondly, introduced into scheme, binary tree used search an optimal navigation with no low cost. In addition, smoothed cubic interpolation make consistent actual practice maneuvering characteristics. Finally, considering constraints International Regulations Preventing Collisions at Sea (COLREGs), typical two-ship encounter scenarios are designed simulated verify effectiveness proposed method. Furthermore, comparative analysis CS-STHA also carried out. The results indicate that in can obtain effectively provide reference decision-making autonomous ships.