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A New A* Method toward Routing Plan for Marine Vessel

Effective routing plan is a key problem of ship navigation, which is characterized by dynamic obstacles in the complex marine environment. To solve the problem of ship routing plan in the marine environment, this paper proposes an A* method which takes a ship surrounded by a circular boundary as a safety distance constraint. Different from routing plan based on graphic approach, this study also extends the classic A* method, including static obstacles and dynamic obstacles. The effectiveness of this method is verified by simulation experiments under different environmental conditions.