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Path Planning for Autonomous Inland Vessels Using A*BG

  • Linying ChenEmail author
  • Rudy R. Negenborn
  • Gabriel Lodewijks
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9855)

Abstract

To meet the transportation demand and maintain sustainable development, many countries are aiming to promote the competitive position of inland waterway shipping in the transport system. Autonomous transport is seen as a possibility for maritime transport to meet today’s and tomorrow’s challenges. In realizing autonomous navigation, path planning plays an important role. Being the most widely used path planning algorithm for robotics and land-based vehicles, in this paper we analyze A* and its extensions for waterborne applications. We hereby exploit the fact that for vessels optimal paths typically have heading changes only at the corners of obstacles to propose a more efficient modified A* algorithm, A*BG, for autonomous inland vessels. Two locations where ship accidents frequently occur are considered in simulation experiments, in which the performance of A*, A*PS, Theta* and A*BG are compared.

Keywords

Path Planning Model Predictive Control Buffer Area Visibility Graph Autonomous Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgment

This research is supported by the China Scholarship Council under Grant 201426950041.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Linying Chen
    • 1
    Email author
  • Rudy R. Negenborn
    • 1
  • Gabriel Lodewijks
    • 1
  1. 1.Department of Maritime and Transport TechnologyDelft University of TechnologyDelftThe Netherlands

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