An Improved D* Lite-Based Dynamic Route Planning Algorithm for Ships in Arctic Waters

The ice conditions in Arctic waters are complex and variable, requiring ships to dynamically adjust their routes to ensure safe and efficient navigation. Traditional dynamic path planning algorithms struggle to address the extensive variability of Arctic ice conditions. To tackle this issue, this paper improves the D* Lite algorithm by leveraging the gradual and convergent nature of Arctic ice condition changes. The original algorithm’s local update and path extraction rules are modified to prevent chain updates triggered by minor localized changes, thereby reducing the frequency of updates in non-critical areas. By simulating dynamic route planning for ships in Arctic waters during both the freezing and melting periods, the improved D* Lite algorithm was compared with the original D* Lite algorithm and a global update algorithm in terms of voyage distance, risk coefficient, planning time, and the number of node updates. The computational results demonstrate that the improved D* Lite algorithm achieves planning results very similar to those of the original D* Lite algorithm and the global update algorithm at the lowest update cost, significantly enhancing the safety and efficiency of dynamic route planning for ships in Arctic waters.