Autonomous Vessels' Pathfinding Using Visibility Graph

The aim of this paper is to present an algorithm for pathfinding in confined environment. Initially, the state of art concerning route generation is provided and briefly discussed. Specific geographical terrain is provided and converted into twodimensional polygon-shaped environment. Several scenarios of initial and destination points for ship's journey are provided, for all of which a trajectory is generated using visibility graph method (VGM). The main purpose of the article is underlined in the section providing results of a numerical experiment on generating path to follow for a seaborne object in mentioned confined environment. The paper is concluded with a discussion regarding application of said algorithms in autonomous vessels' technology as well as with an assessment of the algorithm's efficiency.