Abstract
Route planning of vehicles uses different data structures of the route planning map and route planning algorithms according to the purpose of route planning. The small size of the ship, the coastal areas where the small ships are mainly operated, and the fact that individuals mainly operate them are major considerations for choosing a data structure of the route planning chart and route planning algorithm.
정동근, “쿼드트리 해도를 활용한 연안 소형선의 계층적 경로 계획 방법”, 석사학위논문, 서울대학교, 2023.02.24