The Method Based On Dijkstra Of Multi-directional Ship’s Path Planning

Aiming at the problem of the shortest path's optimization for direct navigation of ships, the Dijkstra algorithm search is improved. The environment of the ship's navigation area was modeled by rasterization and swelling. Then the four-direction search, eight-direction search and arbitrary-angle search based on the Dijkstra algorithm were improved, and the three search methods were compared. Simulation experiments and research results show that the improved arbitrary angle search method can best meet the requirement of the shortest direct flight path.