Research on Unmanned Ship Path Planning based on RRT Algorithm

Abstract

The increase of water shipping density, coupled with the increasing complexity of the waterway, the ship's intelligent collision avoidance system plays a pivotal role in the transportation safety of shipping. Therefore, it has gradually become the focus of water traffic safety research. In recent years, China is still facing a period of great development in navigation technology, safety, green, digital, intelligent will become the development trend. Although the waterway environment has been improving, the increase of shipping vessels has led to frequent accidents in the waterway, and the traditional management methods and means lack real-time monitoring and scheduling of vessels, and the management lacks intelligence and information technology. In this paper, we solve the ship path problem from the point of path planning of intelligent ships. RRT* algorithm is a common method for path planning, but the traditional RRT* algorithm has problems in ship path planning, slow convergence speed, many path turns and large curvature fluctuations. For these problems, an improved fast extended random tree algorithm (Bi-RRT) is proposed. The improved RRT* algorithm is simulated and verified by MATLAB simulation platform. The simulation results show that the research algorithm can shorten the planning time, reduce the number of iterations, and has better feasibility and effectiveness.