Ice navigation is currently one of the important issues in path planning studies. Most studies are using sea ice models or ice charts for large-scale path planning, but the weather and ice conditions in the polar waters usually change quickly and are not easy to predict. Under these conditions, small-scale path planning that can be adjusted in time for sea ice collision avoidance is needed. This study uses marine radar imaging to reconstruct the ice navigation scene, and establishes a visual-ization function of sea ice warning on the radar image. We combine the bidirectional rapidly-exploring random tree (B-RRT) algorithm and the greedy algorithm to propose a path planning algorithm that generates various path planning schemes for ice navigation. After a number of path planning schemes are quickly generated, the path risk index proposed in this study can be used to evaluate and choose a relatively optimal path planning scheme with lower risk, as well as serve as an assistant reference for path planning decisions in ice navigation.
Hsieh, Tsung-Hsuan; Wang, Shengzheng; Gong, Huijia; Liu, Wei; and Xu, Ning
"Sea Ice Warning Visualization and Path Planning for Ice Navigation Based on Radar Image Recognition,"
Journal of Marine Science and Technology: Vol. 29:
3, Article 4.
Available at: https://jmstt.ntou.edu.tw/journal/vol29/iss3/4