Dong-Geun Jeong, "A Method for Hierarchical Route Planning of Small ships in Coastal Area Using Quadtree Chart", M.Sc. Thesis, Seoul National University, 2023.02.24
정동근, "쿼드트리 해도를 활용한 연안 소형선의 계층적 경로 계획 방법", 석사학위논문, 서울대학교, 2023.02.24
| 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. Electronic charts are generally produced according to the standard form regulated by the International Hydrographic Organization (IHO). Objects on the electronic chart are represented in vector format, making it difficult to use them directly for route planning. In this study, a quadtree, which can reduce the number of chart grids compared to regular grid charts by representing topography with non-uniform grid sizes, was used as a data structure for route planning charts. The quadtree chart can represent areas with complex and small obstacles with a high level of sophistication that small ships can pass through. In addition, since small ships frequently sail inside the marina, the center line created using the Voronoi diagram was selected as an additional data structure for the route planning charts to consider the characteristics of the marina. For the route planning algorithm, Hierarchical Pathfinding A* (HPA*) was used. HPA* divides the chart hierarchically and proceeds route planning sequentially according to the hierarchy, greatly reducing the memory usage and route planning time required for route planning. Moreover, a multi-step smoothing method was applied to improve the quality of the route to provide a route that enhances user experience. In this study, a route planning program considering objects for sailing was created using the quadtree, Voronoi diagram, and HPA* and verified in various coastal areas. |
|---|---|
| Publication Date | 2023-02-24 |
-
Read More
Yun-Sik Kim, "An Improved Method for Detection and Tracking of Maritime Obstacles Based on Multiple Sensor Fusion", M.Sc. Thesis, Seoul National University, 2026.02.25
CategoryM.Sc. Thesis -
Read More
Seong-Won Choi, "An Improved Method for Ship Collision Avoidance Based on Deep Reinforcement Learning Using Attention Module and Mixture-of-Experts", M.Sc. Thesis, Seoul National University, 2026.02.25
CategoryM.Sc. Thesis -
Read More
Do-Hyun Chun, "A Method for Collision Avoidance of a Ship Based on Reinforcement Learning in Complex Maritime Situations", Ph.D. Thesis, Seoul National University, 2024.02.29
CategoryPh.D. Thesis -
Read More
Dong-Gyu Park, "An Optimization Method of Initial Principal Particulars of Small Naval Ships Considering Design Requirements", M.Sc. Thesis, Seoul National University, 2025.02.26
CategoryM.Sc. Thesis -
Read More
In-Su Han, "A Method for Searching Ship Regulations Based on Generative AI Considering the Intent of User’s Query", M.Sc. Thesis, Seoul National University, 2025.02.26
CategoryM.Sc. Thesis -
Read More
Ha-Yun Kim, "An Improved Method for Tracking of Maritime Obstacles Using Sensor Data", M.Sc. Thesis, Seoul National University, 2024.02.26
CategoryM.Sc. Thesis -
Read More
Jisang Ha, "Optimal Arrangement Method of Equipment and Pipes in the Engine Room of a Ship", Ph.D. Thesis, Seoul National University, 2023.08.29
CategoryPh.D. Thesis -
Read More
Dong-Geun Jeong, "A Method for Hierarchical Route Planning of Small ships in Coastal Area Using Quadtree Chart", M.Sc. Thesis, Seoul National University, 2023.02.24
CategoryM.Sc. Thesis -
Read More
Jeong-Ho Park, "A Method for Detection and Tracking of Maritime Obstacles Based on Multi-Video", M.Sc. Thesis, Seoul National University, 2023.02.24
CategoryM.Sc. Thesis -
Read More
Hamin Song, "Optimization of Crew Manning Considering Operation Scenarios of a Naval Ship", M.Sc. Thesis, Seoul National University, 2023.02.24
CategoryM.Sc. Thesis -
Read More
Yeongmin Jo, "A Method for the Path Tracking of Surrounding Ships Using Multiple Sensors", M.Sc. Thesis, Seoul National University, 2022.02.25
CategoryM.Sc. Thesis -
Read More
Won-Jae Lee, "Image-based Object Detection and Tracking Method for the Awareness around the Ship", M.Sc. Thesis, Seoul National University, 2021.02.26
CategoryM.Sc. Thesis -
Read More
June-Beom Lee, "Development of Prediction Models of Ship Power and Ocean Environmental Data Based on Deep Learning", M.Sc. Thesis, Seoul National University, 2021.02.26
CategoryM.Sc. Thesis -
Read More
Hye-Won Lee, "Wire Rope Contact Model and Crane Control Method for the Advanced Simulation and Automation of Block Erection", Ph.D. Thesis, Seoul National University, 2020.02.26
CategoryPh.D. Thesis -
Read More
Ki-Su Kim, "Assessment Method of the Fitness of Initial Arrangement Design of a Naval Ship", Ph.D. Thesis, Seoul National University, 2019.08.29
CategoryPh.D. Thesis -
Read More
Sung-Woo Park, "Data Mining Method for Offshore Structures based on Big Data Technology", M.Sc. Thesis, Seoul National University, 2019.02.26
CategoryM.Sc. Thesis -
Read More
Luman Zhao, "Simulation Method to Support Autonomous Navigation and Installation Operation of an Offshore Support Vessel", Ph.D. Thesis, Seoul National University, 2019.02.26
CategoryPh.D. Thesis -
Read More
Joo-Pil Lee, "Design of Wreck Removal Considering Safety and Economy", M.Sc. Thesis, Seoul National University, 2019.02.26
CategoryM.Sc. Thesis -
Read More
Seung-Ho Ham, "Integrated Simulation Method Based on Multibody Dynamics for Production Design Verification in Ships and Offshore Structures", Ph.D. Thesis, Seoul National University, 2018.08.29
CategoryPh.D. Thesis -
Read More
Sang-Hyun Lee, "Integrated Method for Layout Design of LNG FPSO Based on Optimization Technique and Expert System", M.Sc. Thesis, Seoul National University, 2018.02.26
CategoryM.Sc. Thesis