Fig. 14From: A second-order dynamic and static ship path planning model based on reinforcement learning and heuristic search algorithmsLocal dynamic path planning scenario. The collision avoidance scene is rasterized according to the sea area scene modeling method. The black squares in the figure represent the terrain of the sea area, which are static obstacles. Besides, the red squares are the ship sailing directly, and the blue squares are the ship that should make wayBack to article page