Polar Dense Ice Layer Ship Path Planning Based on DI-IVYA-A* Algorithm

When facing the dense ice layer structure of the polar region, the A* algorithm expands a large number of neighboring nodes to bypass obstacles, especially at narrow passages or curved paths, which makes the algorithm extremely inefficient. To address this, this paper proposes a polar dense ice layer ship static path planning based on the DI-IVYA-A* algorithm. This algorithm simulates the propagation and evolution of ivy plants, improving itself by selecting the nearest and most important neighbors. Simulation experiments show that the proposed algorithm exhibits high efficiency when facing the dense ice layer structure of the polar region. Furthermore, for the unstable harsh conditions of the polar region, this paper designs a path correction method for the planned path generated by the DI-IVYA-A* algorithm and designs multiple redundant paths for the final optimal path to ensure emergency avoidance in case of unexpected situations, ensuring navigation safety.