Research on the trajectory planning method of inland waterway vessels based on Frenet coordinate system

With the continuous development of waterway traffic technology, the freight volume of inland waterway ships is increasing, and the waterway traffic environment becomes more and more complex. In the complex traffic environment of curved waterways with the participation of multiple ships, the traditional ship trajectory planning method is inefficient and often cannot meet the actual needs. To reduce the difficulty of trajectory planning and improve the planning efficiency, this paper proposes to complete the trajectory planning of inland waterway ships based on Frenet coordinate system, which converts the high-dimensional planning problem into multiple low-dimensional planning problems and greatly reduces the difficulty of ship planning. Frenet coordinates can intuitively reflect the motion relationship of different objects in the waterway, and the method is obvious for simplifying the trajectory planning problem and improving the efficiency of ship trajectory planning in the complex inland waterway traffic environment.