Author(s): Dong Ho Yoon; Seojun Oh; Joonmo Choung
Linked Author(s):
Keywords: Voidance; Iceberg; Icebreaker; Hydrodynamics; HydroQus
Abstract: This study goes beyond a simple comparison of path-planning methods for iceberg avoidance during autonomous navigation in polar area. Its primary objective is to analyze how the validity of planned routes changes over time in a dynamically evolving environment. Previous studies have typically evaluated path-planning algorithms based on simplified kinematic models, which fail to fully reflect the maneuvering performance of real ships. While high-fidelity methods such as CFD are required to reproduce actual ship behavior, their high computational cost makes them unsuitable for long-duration simulations like avoidance scenarios. To address this limitation, this study employs HydroQus, a potential-theory-based fluid–structure interaction method, to replicate the maneuvering performance of the icebreaker ARAON. A hydrodynamic model incorporating restoring, radiation, second-order damping, and thrust forces was developed and validated against sea trial data. The A* algorithm and the velocity obstacle (VO) algorithm were applied for iceberg avoidance. Two scenarios—stationary and drifting icebergs—were considered, and performance was evaluated in terms of trajectory, travel distance, time, and closest approach distance. Results show no significant difference in the stationary case, whereas in the drifting case, A* exhibited collision risk due to reliance on pre-planned paths. In contrast, VO reduced travel distance and time by 4%. These findings highlight the limitations of global path-planning in dynamic environments and emphasize the advantages of real-time adaptive approaches.
Year: 2026