Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.

轨迹规划是确保无人驾驶船安全航行的重要技术之一。本文提出了一种基于多层Morphin自适应搜索树算法的动态路径规划方法，该方法考虑了船舶的机动性，COLREGS和良好的航海技术，以协调混合交通环境中的动作。首先，根据滚动窗口的环境信息建立环境模型；其次，根据速度障碍物（VO）方法计算出避免碰撞的可行回避范围。最后，使用Morphin自适应搜索树算法进行路径优化。通过案例研究，并与传统的人工势场（APF）模型进行比较，验证了该方法的适用性和潜力。