Skip to main content
EURASIP Journal on Wireless Communications and Networking
Fig. 13 | EURASIP Journal on Wireless Communications and Networking

Fig. 13

From: A second-order dynamic and static ship path planning model based on reinforcement learning and heuristic search algorithms

Fig. 13

Visualization of improved ship trajectory prediction (green trajectory) based on Stacked-BiGRUs. Firstly, we train a Stacked-BiGRUs trained on the Baltic Sea summer ship trajectory dataset and use the trained model to predict the trajectories of the two encountering ships. The prediction results of the two encountering ships by the pretrained model are shown in this figure. The blue trajectory in the figure is the historical trajectory of the blue ship, and its route direction is the direction of the blue arrow. Besides, the red line is the red ship’s historical trajectory, and the sailing direction is the along the red arrow. The green trajectory is the predicted trajectory of the blue ship from a certain moment

Back to article page