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Abstract The route planning method has been proposed and developed in various fields such as robotics, navigation for vehicles, computer games, etc. A route planning for ship navigation should consider multiple purposes for finding the route depending on the types of ships. Especially, small ships are mostly operated near the coastal area and used for personal purposes. From this point of view, the resolution of the map for route planning should be high to avoid obstacles in the coastal area for small ships. In addition, various objects on the sea should be presented on the map efficiently. In this study, the route planning method for small ships such as yachts and ferries was proposed. For this, the quadtree grid was selected as the data structure for the high-resolution map instead of the uniform grid because the quadtree grid can represent the specific region in more detail by dividing only the desired part of the map. For personal use, routes for navigation should be provided within a short time. Therefore, the computational speed of route planning should be fast. HPA* (Hierarchical Pathfinding A*) was applied for faster route planning. And S-57 prescribed by IHO (International Hydrographic Organization) has various regulations for coastal navigation. Therefore, various methods were additionally considered to satisfy the regulations. The proposed method was applied for route planning in coastal areas in the Republic of Korea. From the results, the efficiency of the proposed method was evaluated compared with the existing route planning algorithm.
Publication Date 2022-09-14

Dong-Guen Jeong, Myung-Il Roh, Ki-Su Kim, Jun-Sik Lee, Dae-Hyuk Kim, Wang-Seok Jang, "A Route Planning Method for Coastal Navigation of Small Ships", Proceedings of ICCAS(International Conference on Computer Applications in Shipbuilding) 2022, Yokohama, Japan, pp. 153-156, 2022.09.13-15


List of Articles
번호 분류 제목 Publication Date
496 Domestic Conference 여인창, 노명일, 공민철, 유동훈, 진은석, "LIDAR를 이용한 선박의 위치 예측 알고리즘", 2024년도 한국CDE학회 동계학술발표회, 평창, p. 99, 2024.01.29-02.01 file 2024-01-30
495 Domestic Conference 공민철, 노명일, 하지상, 한인수, 김미진, 김정연, "선박 내 배관의 자동 배치를 위한 P&ID의 그래프 변환 방법", 2024년도 한국CDE학회 동계학술발표회, 평창, p. 129, 2024.01.29-02.01 file 2024-01-30
494 Domestic Conference 박동규, 노명일, 하지상, "무인 수상정의 개념 설계를 위한 주요 제원 최적화 방법", 2023년도 한국해군과학기술학회 동계학술발표회, 대전, pp. 110-141, 2023.12.07-08 2023-12-08
493 Invited Seminar Myung-Il Roh, "Core AI Technologies for Autonomous Ships", 2023 Annual Autumn Meeting, JASNAOE (Japan Society of Naval Architects and Ocean Engineers), Nagasaki, Japan, 2023.11.27-28 file 2023-11-27
492 Domestic Conference 김정연, 노명일, 이현승, 이인석, 김미진, 신동규, 유한준, "도면 내 배관 시스템의 자동 매칭 알고리즘", 2023년도 대한조선학회 추계학술발표회, 울산, 2023.11.02 file 2023-11-02
491 Domestic Conference 조영민, 노명일, 하지상, 김하연, 손남선, "무인선을 위한 카메라 및 레이더의 센서 융합 방법", 대한조선학회 추계학술발표회, 울산, pp. 225, 2023.11.02-03 file 2023-11-03
490 Domestic Conference 전도현, 노명일, 이혜원, 유동훈, "복잡한 해상 상황에서의 강화 학습 기반 선박 충돌 회피 방법", 대한조선학회 추계학술발표회, 울산, pp. 453, 2023.11.02-03 file 2023-11-03
489 Domestic Conference 한인수, 노명일, 공민철, 이정렬, 박서윤, "자연어 처리 기술을 활용한 선박 규정 검색 알고리즘", 대한조선학회 추계학술발표회, 울산, pp. 113, 2023.11.02-03 file 2023-11-02
488 Domestic Conference 박동규, 노명일, 하지상, "최적화 기법을 활용한 무인 수상정의 초기 제원 결정", 2023년도 대한조선학회 추계학술발표회, 울산, pp. 111, 2023.11.02-03 file 2023-11-02
487 Domestic Conference 김하연, 노명일, 조영민, 하지상, 손남선, "센서 데이터를 활용한 해상 장애물 추적 방법 및 실해역 적용 사례", 2023년도 대한조선학회 추계학술발표회, 울산, pp. 211, 2023.11.02-03 file 2023-11-03
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