Ship Evolutionary Trajectory Planning Method with Application of Polynomial Interpolation

Ship Evolutionary Trajectory Planning Method with Application of Polynomial Interpolation 

ABSTRACT Paper presents the apphcation of evolutionary algorithms and polynomial interpolation in ship evolutionary trajectory planning method. Evolutionary algorithms allows to find a collision Iree trajectory in real time, while polynomial interpolation allows to model smooth trajectory which keeps continuity of velocity and acceleration values along path. Comhination of this two methods allows to find trajectory, which under some assumptions, can mimic real movement of the vessel. Paper presents the description of proposed method with simulation tests for sample coUision situations at sea. 

Paper presents new method of ship path planning which combine advantages of evolutionary algorithms and polynomial interpolation for setting collision- free trajectory for marine vessel. Method allows to find a colUsion free, smooth trajectory in near real time with keeping continuous values of speed and acceleration alongside. 

Papers is organized as follows. After the introduction the evolutionary ship path platming method is presented. Third chapter describe the application of cubic splines to path planning problem. Chapter 4 presents experimental researches of method for couple of sample environments. 5 chapter concludes paper. 

Total Cost(S =Safe Cond(S j+Econ Cond(S) (1) Safe Cond(S = W Xclear( S (2) 

---