Research on Unmanned Ship Path Planning based on RRT Algorithm

Abstract The increase of water shipping density, coupled with the increasing complexity waterway, ship's intelligent collision avoidance system plays a pivotal role in transportation safety shipping. Therefore, it has gradually become focus traffic research. In recent years, China is still facing period great development navigation technology, safety, green, digital, will trend. Although waterway environment been improving, vessels led to frequent accidents and traditional management methods means lack real-time monitoring scheduling vessels, lacks intelligence information technology. this paper, we solve ship path problem from point planning ships. RRT* algorithm common method for planning, but problems slow convergence speed, many turns large curvature fluctuations. For these problems, an improved fast extended random tree (Bi-RRT) proposed. simulated verified by MATLAB simulation platform. results show that research can shorten time, reduce number iterations, better feasibility effectiveness.