Path planning for autonomous inland vessels using A*BG

Linying Chen, Rudy Negenborn, Gabri Lodewijks

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)


To meet the transportation demand and maintain sustainable development, many countries are aiming to promote the competitive position of inland waterway shipping in the transport system. Autonomous transport is seen as a possibility for maritime transport to meet today’s and tomorrow’s challenges. In realizing autonomous navigation, path planning plays an important role. Being the most widely used path planning algorithm for robotics and land-based vehicles, in this paper we analyze A* and its extensions for waterborne applications. We hereby exploit the fact that for vessels optimal paths typically have heading changes only at the corners of obstacles to propose a more efficient modified A* algorithm, A*BG, for autonomous inland vessels. Two locations where ship accidents frequently occur are considered in simulation experiments, in which the performance of A*, A*PS, Theta* and A*BG are compared.
Original languageEnglish
Title of host publicationComputational Logistics
Subtitle of host publicationProceedings 7th International Conference - ICCL 2016
EditorsA. Paias, M. Ruthmair, S. Voss
Place of PublicationCham, Switzerland
ISBN (Electronic)978-3-319-44896-1
ISBN (Print)978-3-319-44895-4
Publication statusPublished - 2016
EventICCL 2016: 7th International Conference on Computational Logistics - Lisbon, Portugal
Duration: 7 Sep 20169 Sep 2016
Conference number: 7

Publication series

NameLecture Notes in Computer Science
PublisherSpringer International Publishing
ISSN (Print)0302-9743


ConferenceICCL 2016
Internet address


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