In this paper, we present a novel algorithm called the Hybrid Search algorithm that integrates the Zermelo's Navigation Initial Value Problem with the Ferraro-Mart\'in de Diego-Almagro algorithm to find the optimal route for a vessel to reach its destination. Our algorithm is designed to work in both Euclidean and spherical spaces and utilizes a heuristic that allows the vessel to move forward while remaining within a predetermined search cone centred around the destination. This approach not only improves efficiency but also includes obstacle avoidance, making it well-suited for real-world applications. We evaluate the performance of the Hybrid Search algorithm on synthetic vector fields and real ocean currents data, demonstrating its effectiveness and performance.
Cite
@article{arxiv.2308.02434,
title = {Hybrid Search method for Zermelo's navigation problem},
author = {Daniel Precioso and Robert Milson and Louis Bu and Yvonne Menchions and David Gómez-Ullate},
journal= {arXiv preprint arXiv:2308.02434},
year = {2023}
}