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Intelligent Route Planning for Transport Ship Formations: A Hierarchical Global–Local Optimization and Collaborative Control Framework

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Veröffentlicht in:Journal of Marine Science and Engineering vol. 13, no. 8 (2025), p. 1503-1529
1. Verfasser: Guo Zilong
Weitere Verfasser: Hong, Mei, Li, Yunying, Qian Longxia, Zhang Yongchui, Hanlin, Li
Veröffentlicht:
MDPI AG
Schlagworte:
Pacific Ocean
Potential fields
Safety regulations
Sea vessels
Collaboration
Ship domains
Shipping
Optimization
Winter
Coordination
Efficiency
Risk levels
Marine transportation
Formations
Wind
Transportation safety
Planning
Global optimization
Route planning
Methods
Local optimization
Algorithms
Obstacle avoidance
Ship handling
Structural stability
Shipping industry
Economic
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Abstract:Multi-vessel formation shipping demonstrates significant potential for enhancing maritime transportation efficiency and economy. However, existing route planning systems inadequately address the unique challenges of formations, where traditional methods fail to integrate global optimality, local dynamic obstacle avoidance, and formation coordination into a cohesive system. Global planning often neglects multi-ship collaborative constraints, while local methods disregard vessel maneuvering characteristics and formation stability. This paper proposes GLFM, a three-layer hierarchical framework (global optimization–local adjustment-formation collaboration module) for intelligent route planning of transport ship formations. GLFM integrates an improved multi-objective A* algorithm for global path optimization under dynamic meteorological and oceanographic (METOC) conditions and International Maritime Organization (IMO) safety regulations, with an enhanced Artificial Potential Field (APF) method incorporating ship safety domains for dynamic local obstacle avoidance. Formation, structural stability, and coordination are achieved through an improved leader–follower approach. Simulation results demonstrate that GLFM-generated trajectories significantly outperform conventional routes, reducing average risk level by 38.46% and voyage duration by 12.15%, while maintaining zero speed and period violation rates. Effective obstacle avoidance is achieved, with the leader vessel navigating optimized global waypoints and followers maintaining formation structure. The GLFM framework successfully balances global optimality with local responsiveness, enhances formation transportation efficiency and safety, and provides a comprehensive solution for intelligent route optimization in multi-constrained marine convoy operations.
ISSN:2077-1312
DOI:10.3390/jmse13081503
Quelle:Engineering Database