Author(s): T. Takagi; K. Tateyama; T. Ishiyama
Linked Author(s):
Keywords: No Keywords
Abstract: In this paper, the selection of the sea route on the ice sea is formulated as the find-path problem. The probabilistic roadmap (PRM) method, which is a popular path planning scheme that can find a collision-free path by connecting the start and goal through a roadmap constructed by drawing random node in the free configuration space. This paper presents new method that construct a roadmap graph. The path between the start and the goal is decided by using the Dijkstra's Algorithm as a query. Experimental results show the effectiveness of the proposed method. And it is not necessary to avoid all sea ices according to ship’s capability. In addition, we presented the method of the searching for sea route by ship’s capability.
Year: 2014