Vessel Optimal Trajectory and Path Adaptation for Reducing Noise at Cetacean Location Under Velocity Constraints

Ahstract- This study suggests to improve the vessel noise impact near cetacean. An automatic path planning and indirect vessel velocity adaptation (using propeller revolution per minute) is suggested in order to reduce the noise. A set of layers (labelled as costmap) is suggested, each layer representing a map of the risk, in order to reduce the risk and estimate the optimal path under constraints (minimum travelled distance versus maximum cetacean distance). For adapting the path, one static costmap is used to describe the shores and islands. Inflation layer is used for safety and a conflict costmap is used to represent the cetacean potential locations. Artificial Potential Field is applied on the combined costmaps (master costmap) and then two different path planning algorithms are applied and compared. Over the preferred path, a dynamic simulation including autopilot to follow waypoints from the path planner, noise synthesis and velocity adaptation is detailed. This navigation aid system suggests to the pilot new adapted path and vessel velocity considering environmental constraints.