Planning safe navigation routes through mined waters

In this paper we investigate the problem of finding a safe transit of a ship through areas threatened by sea mines. The aim is to provide decision-making support by a tool that can be integrated into a naval command and control system. We present a route finding algorithm which avoids regions of risk higher than a given threshold. The algorithm takes into account the technical and operational restrictions of the ship’s movement. It allows to minimize the route length, the traveling time, the number of maneuvers, or other objectives.

[1]  P. Pardalos,et al.  Optimal Risk Path Algorithms , 2002 .

[2]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[3]  Edsger W. Dijkstra,et al.  A note on two problems in connexion with graphs , 1959, Numerische Mathematik.

[4]  Anthony Stentz,et al.  A Guide to Heuristic-based Path Planning , 2005 .

[5]  Jf Bekker,et al.  Planning the safe transit of a ship through a mapped minefield , 2006 .

[6]  Robert Mohović,et al.  Ship Track and Speed model in Case of Steering Gear Breakdown with Rudder Remaining Fix at non Zero Angle , 2012 .

[7]  Christine D. Piatko,et al.  Stochastic search and graph techniques for MCM path planning , 2002, SPIE Defense + Commercial Sensing.

[8]  John J. Rios Naval Mines in the 21st Century: Can NATO Navies Meet the Challenge? , 2005 .

[9]  Milton Abramowitz,et al.  Handbook of Mathematical Functions with Formulas, Graphs, and Mathematical Tables , 1964 .

[10]  Vural Aksakalli,et al.  Optimal ship navigation with safety distance and realistic turn constraints , 2013, Eur. J. Oper. Res..

[11]  Youngjin Choi,et al.  Trajectory generation of wheeled mobile robot using convolution method , 2011, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).

[12]  William H. Press,et al.  Numerical recipes , 1990 .

[13]  M. Ana,et al.  Advances in Group Filter Applications to Sea Mine Detection , 2006, OCEANS 2006.

[14]  I-Jeng Wang,et al.  Path planning for mine countermeasures , 2003, SPIE Defense + Commercial Sensing.

[15]  Han-Chung Lu Using expert systems in mine warfare. , 1991 .

[16]  R. K. Shyamasundar,et al.  Introduction to algorithms , 1996 .

[17]  Pei-Chieh Li Planning the Optimal Transit for a Ship Through a Mapped Minefield , 2009 .

[18]  Carey E. Priebe,et al.  Path planning for mine countermeasures command and control , 2001, SPIE Defense + Commercial Sensing.

[19]  Kjetil Fagerholt,et al.  Shortest path in the presence of obstacles: An application to ocean shipping , 2000, J. Oper. Res. Soc..

[20]  J. E. Glynn,et al.  Numerical Recipes: The Art of Scientific Computing , 1989 .

[21]  Víctor Santibáñez,et al.  A Class of OFT Controllers for Torque-Saturated Robot Manipulators: Lyapunov Stability and Experimental Evaluation , 2008, J. Intell. Robotic Syst..

[22]  Nils J. Nilsson,et al.  A Formal Basis for the Heuristic Determination of Minimum Cost Paths , 1968, IEEE Trans. Syst. Sci. Cybern..

[23]  Zhaodan Kong,et al.  A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance , 2010, J. Intell. Robotic Syst..

[24]  Steven M. LaValle,et al.  Planning algorithms , 2006 .