- Tytuł:
- Towards use of dijkstra algorithm for optimal navigation of an unmanned surface vehicle in a real-time marine environment with results from artificial potential field
- Autorzy:
-
Singh, Y.
Sharma, S.
Sutton, R.
Hatton, D. - Powiązania:
- https://bibliotekanauki.pl/articles/116058.pdf
- Data publikacji:
- 2018
- Wydawca:
- Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
- Tematy:
-
autonomous vehicles
dijkstra’s algorithm
Unmanned Surface Vehicle (USV)
port of portsmouth
Artificial Path Planning (APF)
Artificial Potential Field
real-time marine environment
optimal navigation - Opis:
- The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.
- Źródło:
-
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 1; 125-131
2083-6473
2083-6481 - Pojawia się w:
- TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
- Dostawca treści:
- Biblioteka Nauki
Artykuł