Planning safe navigation routes through mined waters

In this paper we investigate the problem of finding a safe transit of a ship through areas threatened by sea mines. The aim is to provide decision-making support by a tool that can be integrated into a naval command and control system. We present a route finding algorithm which avoids regions of risk higher than a given threshold. The algorithm takes into account the technical and operational restrictions of the ship’s movement. It allows to minimize the route length, the traveling time, the number of maneuvers, or other objectives.