A Study of Simulated Working of A* and RRT* for Cargo Ship in ASVs

With the increased amount of algorithms for the path planning and collision avoidance of ASVs. The need for an unbiased protective path planning directs the need for decision in stochastic areas in the vast ocean for cargo ship. Autonomous surface vehicles should take appropriate decision on the path according to the dynamic environment and the obstacle that is before them. In some cases, environment, time, and size should be considered to acquire the fastest path and methods that could be suited for collision avoidance. This paper investigates the need for a well-known path planning method that has handled the situation based on the dynamic properties of the vehicle in the ocean. The simulated result shows a slight variation in their proposed path in terms of time and collision in terms of size. Therefore, using a realistic approach of the A* algorithm and the RRT*, we can handle the scenario of dynamic environment.