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2023 Journal Impact Factor - 0.7
2023 CiteScore - 1.4
ISSN 2083-6473
ISSN 2083-6481 (electronic version)
Editor-in-Chief
Associate Editor
Prof. Tomasz Neumann
Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
e-mail transnav@umg.edu.pl
Towards use of Dijkstra Algorithm for Optimal Navigation of an Unmanned Surface Vehicle in a Real-Time Marine Environment with results from Artificial Potential Field
1 University of Plymouth, Plymouth, United Kingdom
ABSTRACT: The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.
KEYWORDS: Dijkstra’s Algorithm, Artificial Potential Field (AFP), Unmanned Surface Vehicle (USV), Port of Portsmouth, Artificial Path Planning (APF), Real-Time Marine Environment, Optimal Navigation, Autonomous Vehicles
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Citation note:
Singh Y., Sharma S., Sutton R., Hatton D.: Towards use of Dijkstra Algorithm for Optimal Navigation of an Unmanned Surface Vehicle in a Real-Time Marine Environment with results from Artificial Potential Field. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 12, No. 1, doi:10.12716/1001.12.01.14, pp. 125-131, 2018
Authors in other databases:
Yogang Singh:
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LfIXpiMAAAAJ
Sanjay Sharma:
Robert Sutton:
Daniel Hatton:
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