A Path Planning Method for Ship Collision Avoidance Considering Spatial–Temporal Interaction Effects

Efficient and reliable path planning is crucial for smart ships when avoiding collisions with static dynamic obstacles in complex marine environments. This research proposes a novel method based on the fast marching to specifically assist safe navigation autonomous ships. At very beginning, unified representation specially produced describe space parametric speed function. In addition, spatial–temporal interaction effects of are considered integrated into construction space. Subsequently, optimization strategy put forward trajectory prediction objects. Particularly, effectiveness has been validated evaluated through number simulations, which proves that such practical narrow crowded waterways.