ABSTRACT
The problem of path planning occurs in numerous technical applications, such as, motion planning for mobile robots [12], ship weather routing in ocean sailing, or safety path planning for a ship in a collision situation at sea [5]. The problem is defined in the following way: having given a moving object and the description of the environment, plan the path for object motion between the beginning and end location which avoids all constraints and satisfies certain optimization criteria. The problem can be divided into two basic tasks: the off-line task, in which we look for the path of the object in the unchanging environment, and the on-line task, in which the object moves in the environment that meets the variability and uncertainty restrictions. The on-line mode of the path planning relates to the control of the moving object in the non-stationary environment, in which parts of some obstacles reveal certain dynamics.
