Dynamic trajectory planning for unmanned ship under multi-object environment

Mengxia Li, Junmin Mou, Yixiong He, Xiaohan Zhang, Qinqiong Xie, Pengfei Chen

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)


Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.

Original languageEnglish
JournalJournal of Marine Science and Technology (Japan)
Publication statusPublished - 2021


  • Collision avoidance
  • Maneuverability, COLREGS
  • Morphin algorithm
  • Multi-object
  • Trajectory planning
  • Unmanned ship


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