Research on Ship Route Planning Based on an Improved Theta* Algorithm

In the marine navigation environment, static obstacles such as shallow waters, islands, and restricted zones coexist with dynamic threats like typhoons. Rapidly planning safe, shortest routes is crucial for ensuring vessel and personnel safety while enhancing navigation efficiency. However, existing path planning algorithms face limitations when addressing dynamic threats like typhoons, struggling to achieve an effective balance between efficiency and effectiveness. To address this, this study proposes an improved Time-Dynamic Theta algorithm (TDM-Theta*) based on the Theta algorithm. By incorporating wave height as a key constraint, it comprehensively evaluates the actual impact of dynamic marine environments on routes, thereby efficiently planning safe, shortest paths that proactively avoid typhoon impacts. Through testing and analysis of eight case studies across three typical scenarios, this algorithm demonstrates high efficiency and effectiveness in planning the shortest safe routes across diverse operational environments. The research findings provide theoretical foundations and methodological support for intelligent planning of safe vessel routes.