# Intelligent Ship Scheduling and Path Planning Method for Maritime Emergency Rescue
## 2 Intelligent Ship Action Planning Method for Ocean Targets
### Experimental Strategy  
An intelligent ship action planning method for maritime emergency rescue is the impetus that allows for maritime rescue forces to carry out actions. According to the task requirements, an intelligent action planning model algorithm is constructed to plan the  
Figure 1: Flowchart of the improved A* algorithm. sailing route and action steps of maritime rescue vessels, continuously track the ongoing action tasks, and feed back the task execution in real time. As shown in Figure 2, intelligent ship action planning for maritime emergency rescue is mainly divided into two stages: the navigation planning and regional search stages. In the navigation planning stage, according to the pre-planning of the navigation route in the maritime rescue area, it is ensured that the ship can quickly and safely reach the incident area from the starting point. After the ship reaches the incident area, it enters the regional search phase. In the regional search stage, the ship delimits the search area and carries out search route planning according to the reported location of the incident, searches for the target that needs to be rescued along the way, and continues the regional search after the rescue is completed. In the ship navigation planning stage, the optimal navigation route from the starting point to the emergency rescue area is planned based on the A* algorithm, which takes the longitude and latitude coordinates of the observation area and the longitude and latitude coordinates of the ship's starting point as inputs and combines the ship archives, power duration parameters, sea and land rasterization data, and related constraints. At the same time, a variety of constraints need to be considered, as shown in Table 1. The first is the time constraint, which requires that the start time and duration of the navigation path must meet the time requirements of the mission; the second is the space constraint, which specifies the starting and ending points of the navigation path and requires that the navigation path should only pass through the navigable area and avoid the non-navigable areas such as land and islands. Secondly, the task conflict constraint solves the problem of time window conflict under multi-task processing and determines the execution order according to the priority of the task. Finally, there is the ship performance constraints, including ship sailing speed constraints, ship cruising range constraints, etc. After the ship arrives at the emergency rescue area, it enters the regional search and rescue route planning stage. It uses the full coverage path planning algorithm to establish the survey area coordinate system with the ship as the reference point, iteratively updates the travel distance and turning Angle, and searches the observation area in an all-directional way. After the rescue operation is completed, the scope of the unsearched area is recalculated, and the full coverage path planning is carried out again until the entire emergency search area has been searched.