Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression
A hybrid probabilistic road map (PRM) path planning algorithm based on historical automatic identification system (AIS) information and Douglas–Peucker (DP) compression is proposed to address the issues of low path quality and the need for extensive sampling in the traditional PRM algorithm. This in...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/184 |
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| _version_ | 1832588211505856512 |
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| author | Gongxing Wu Liepan Guo Danda Shi Bing Han Fan Yang |
| author_facet | Gongxing Wu Liepan Guo Danda Shi Bing Han Fan Yang |
| author_sort | Gongxing Wu |
| collection | DOAJ |
| description | A hybrid probabilistic road map (PRM) path planning algorithm based on historical automatic identification system (AIS) information and Douglas–Peucker (DP) compression is proposed to address the issues of low path quality and the need for extensive sampling in the traditional PRM algorithm. This innovative approach significantly reduces the number of required samples and decreases path planning time. The process begins with the collection of historical AIS data from the autonomous vessel’s navigation area, followed by comprehensive data-cleaning procedures to eliminate invalid and incomplete records. Subsequently, an enhanced DP compression algorithm is employed to streamline the cleaned AIS data, minimizing waypoint data while retaining essential trajectory characteristics. Intersection points among various vessel trajectories are then calculated, and these points, along with the compressed AIS data, form the foundational dataset for path searching. Building upon the traditional PRM framework, the proposed hybrid PRM algorithm integrates the B-spline algorithm to smooth and optimize the generated paths. Comparative experiments conducted against the standard PRM algorithm, A*, and Dijkstra algorithms demonstrate that the hybrid PRM approach not only reduces planning time but also achieves superior path smoothness. These improvements enhance both the efficiency and accuracy of path planning for maritime autonomous surface ships (MASS), marking a significant advancement in autonomous maritime navigation. |
| format | Article |
| id | doaj-art-7e41695c427a47e7ab7031d0cfacd83e |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-7e41695c427a47e7ab7031d0cfacd83e2025-01-24T13:37:10ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-01-0113118410.3390/jmse13010184Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP CompressionGongxing Wu0Liepan Guo1Danda Shi2Bing Han3Fan Yang4College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai 201306, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaShanghai Ship and Shipping Research Institute Co., Ltd., Shanghai 200135, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaA hybrid probabilistic road map (PRM) path planning algorithm based on historical automatic identification system (AIS) information and Douglas–Peucker (DP) compression is proposed to address the issues of low path quality and the need for extensive sampling in the traditional PRM algorithm. This innovative approach significantly reduces the number of required samples and decreases path planning time. The process begins with the collection of historical AIS data from the autonomous vessel’s navigation area, followed by comprehensive data-cleaning procedures to eliminate invalid and incomplete records. Subsequently, an enhanced DP compression algorithm is employed to streamline the cleaned AIS data, minimizing waypoint data while retaining essential trajectory characteristics. Intersection points among various vessel trajectories are then calculated, and these points, along with the compressed AIS data, form the foundational dataset for path searching. Building upon the traditional PRM framework, the proposed hybrid PRM algorithm integrates the B-spline algorithm to smooth and optimize the generated paths. Comparative experiments conducted against the standard PRM algorithm, A*, and Dijkstra algorithms demonstrate that the hybrid PRM approach not only reduces planning time but also achieves superior path smoothness. These improvements enhance both the efficiency and accuracy of path planning for maritime autonomous surface ships (MASS), marking a significant advancement in autonomous maritime navigation.https://www.mdpi.com/2077-1312/13/1/184AIS historical dataship path planningimproved DP compression algorithmhybrid probabilistic route map (HPRM) algorithmmaritime autonomous surface ships |
| spellingShingle | Gongxing Wu Liepan Guo Danda Shi Bing Han Fan Yang Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression Journal of Marine Science and Engineering AIS historical data ship path planning improved DP compression algorithm hybrid probabilistic route map (HPRM) algorithm maritime autonomous surface ships |
| title | Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression |
| title_full | Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression |
| title_fullStr | Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression |
| title_full_unstemmed | Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression |
| title_short | Hybrid Probabilistic Road Map Path Planning for Maritime Autonomous Surface Ships Based on Historical AIS Information and Improved DP Compression |
| title_sort | hybrid probabilistic road map path planning for maritime autonomous surface ships based on historical ais information and improved dp compression |
| topic | AIS historical data ship path planning improved DP compression algorithm hybrid probabilistic route map (HPRM) algorithm maritime autonomous surface ships |
| url | https://www.mdpi.com/2077-1312/13/1/184 |
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