Energy efficient path planning for a marine surface vehicle considering heading angle

Ocean environmental effects such as current, wind, water depth, and wave effects on a surface vehicle should be considered when planning the path of a marine surface vehicle, even though their complexity makes computation in a short time challenging. Moreover, the mechanical handling devices such as cranes installed on the deck floor of a surface vehicle can also severely confine a vehicle's heading angle at the goal point, especially in a docking or loading/unloading situation. This paper proposes the EEA* algorithm, a deterministic and energy-based 3-dimensional (3-D: x, y, and θ) path planning method for a marine surface vehicle on a 2-dimensional (2-D: x, y) surface plane that considers ocean environmental effects and the heading angle. The proposed path planner uses a realistic energy cost considering the loads on a vehicle due to tidal current and limited water-depth based on a given ship geometry. It also considers the vehicle's turning ability, thus generating more feasible way-points for real travel while satisfying heading angle constraints. By considering both effects in the path planning step, a more energy-efficient and maneuverable path can be found. Resultant paths and their costs are compared through various simulations in different environmental conditions with those of a classical distance-based A* algorithm, the DA* algorithm which is widely used in most applications.

• Record URL:
  https://doi.org/10.1016/j.oceaneng.2015.07.030
• Record URL:
  http://www.sciencedirect.com/science/article/pii/S0029801815003431
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00298018
• Supplemental Notes:
  • Abstract reprinted with permission of Elsevier.
• Authors:
  • Lee, Taehwan
  • Kim, Hanguen
  • Chung, Hyun
  • Bang, Yuseok
  • Myung, Hyun
• Publication Date: 2015-10-1

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 118-131
• Serial:
  • Ocean Engineering
  • Volume: 107
  • Publisher: Pergamon
  • ISSN: 0029-8018
  • EISSN: 1873-5258
  • Serial URL: http://www.sciencedirect.com/science/journal/00298018

Subject/Index Terms

• TRT Terms: Algorithms; Docking; Energy conservation; Ships; Trajectory control
• Subject Areas: Marine Transportation; Planning and Forecasting; Vehicles and Equipment; I72: Traffic and Transport Planning; I90: Vehicles;

Filing Info

• Accession Number: 01577371
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 17 2015 10:44AM