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Ship path planning method based on hexagonal grid and A* algorithm
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Zhao LIU1, 2, *, Ziyue KANG1, 2, Fan YANG3, Chenhan LUO1, 2
Navigation of China | 2026, 49(1) : 38 - 45
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Navigation of China | 2026, 49(1): 38-45
• Marine Traffic Safety •
Ship path planning method based on hexagonal grid and A* algorithm
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Zhao LIU1, 2, *, Ziyue KANG1, 2, Fan YANG3, Chenhan LUO1, 2
Affiliations
  • 1.School of Navigation, Wuhan University of Technology, Wuhan 430063, China
  • 2.State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
  • 3.Qingdao Pilot Station, Qingdao 266011, China
Published: 2026-02-25 doi: 10.3969/j.issn.1000-4653.2026.01.004
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To address the limitations of the conventional square grid in ship path planning—such as insufficient safety margins, low search efficiency, and poor adaptability to ship maneuvering characteristics—this study proposes a ship path planning method based on a regular hexagonal grid and an improved A* algorithm. A hexagonal grid neighborhood model is constructed according to the geometric properties of the regular hexagonal grid and the required ship-obstacle safety clearance, together with an encoding scheme suitable for hexagonal cells. A ship motion cost model is developed by incorporating ship inertia and turning constraints. Based on this model, the traditional A* algorithm is improved by optimizing the heuristic function and introducing a turning-penalty mechanism, thereby forming a hexagonal-grid-based search algorithm for ship path planning. Comparative experiments show that, compared with the square-grid 8-neighborhood method, the proposed method shortens the path by 5.51% and reduces the number of search nodes by 30. 7% ; compared with the 4-neighborhood method, the path length is reduced by 17. 0% and the number of turning points decreases by 38. 6%. The paths generated on the hexagonal grid are smoother and more consistent with ship maneuvering characteristics. Key words:intelligent navigation; ship path planning; hexagonal grid; improved A* algorithm; ship maneuverability

Zhao LIU, Ziyue KANG, Fan YANG, Chenhan LUO. Ship path planning method based on hexagonal grid and A* algorithm[J]. Navigation of China, 2026 , 49 (1) : 38 -45 . DOI: 10.3969/j.issn.1000-4653.2026.01.004
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Year 2026 volume 49 Issue 1
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Article Info
doi: 10.3969/j.issn.1000-4653.2026.01.004
  • Receive Date：2025-02-09
  • Online Date：2026-05-19
  • Published：2026-02-25
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  • Received：2025-02-09
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Affiliations
    1.School of Navigation, Wuhan University of Technology, Wuhan 430063, China
    2.State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
    3.Qingdao Pilot Station, Qingdao 266011, China
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表12种不同金属材料的力学参数
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Number of
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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