Inland Waterway Ship Path Planning Based on Improved RRT Algorithm
Abstract
:1. Introduction
2. Problem Framework
3. Methodology
3.1. Mathematical Model
3.2. RRT Algorithm
3.3. Improved RRT Model
3.3.1. Path Shearing
3.3.2. Path Smoothing
3.3.3. Safety Distance Reserving
4. Case Study
4.1. Set Up
4.2. Results
5. Discussion
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | Scenario 1 |
---|---|
Step-Size | 5 units |
Iterations | 1000 times |
Safe distance | 0.1 km |
Scenario | Starting Point (km) | Starting Point (km) |
---|---|---|
Scenario 1 | (19, 5.75) | (1, 13.25) |
Scenario 2 | (9.37, 11) | (0.6, 6.4) |
Average Error Rate | Maximum Error Rate | |
---|---|---|
Test 1 | 2.92% | 9.52% |
Test 2 | 3.73% | 7.87% |
Test 3 | 3.33% | 8.22% |
Test 4 | 2.98% | 6.76% |
Test 5 | 3.29% | 10.10% |
Test 6 | 4.10% | 7.32% |
Test 7 | 3.55% | 7.87% |
Test 8 | 2.88% | 9.21% |
Test 9 | 3.11% | 6.67% |
Test 10 | 3.89% | 6.33% |
Average | 3.38% | 7.99% |
Average Error Rate | Maximum Error Rate | |
---|---|---|
Test 1 | 2.23% | 7.43% |
Test 2 | 2.11% | 6.90% |
Test 3 | 1.88% | 6.98% |
Test 4 | 2.48% | 7.53% |
Test 5 | 3.11% | 8.33% |
Test 6 | 1.85% | 6.67% |
Test 7 | 1.90% | 7.22% |
Test 8 | 2.67% | 8.43% |
Test 9 | 2.64% | 7.88% |
Test 10 | 3.44% | 8.20% |
Average | 2.43% | 7.56% |
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Cao, S.; Fan, P.; Yan, T.; Xie, C.; Deng, J.; Xu, F.; Shu, Y. Inland Waterway Ship Path Planning Based on Improved RRT Algorithm. J. Mar. Sci. Eng. 2022, 10, 1460. https://doi.org/10.3390/jmse10101460
Cao S, Fan P, Yan T, Xie C, Deng J, Xu F, Shu Y. Inland Waterway Ship Path Planning Based on Improved RRT Algorithm. Journal of Marine Science and Engineering. 2022; 10(10):1460. https://doi.org/10.3390/jmse10101460
Chicago/Turabian StyleCao, Shengshi, Pingyi Fan, Tao Yan, Cheng Xie, Jian Deng, Feng Xu, and Yaqing Shu. 2022. "Inland Waterway Ship Path Planning Based on Improved RRT Algorithm" Journal of Marine Science and Engineering 10, no. 10: 1460. https://doi.org/10.3390/jmse10101460