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EURASIP Journal on Wireless Communications and Networking
Fig. 16 | EURASIP Journal on Wireless Communications and Networking

Fig. 16

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

Fig. 16

Path planning results of FCC-A*. The planning results of the FCC-A* algorithm are shown in this figure. The FCC-A* algorithm considers the collision field between the give-way ship and the direct-sailing ship, and the collision risk is incorporated into the cost function of the A* algorithm as a membership function. Therefore, the give-way ship will consider the cost of collision with the direct-sailing ship in every step, thereby avoiding the risk of collision

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