{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T21:12:33Z","timestamp":1771621953877,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T00:00:00Z","timestamp":1675382400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"\u201cLeaders in INdustry-university Cooperation 3.0\u201d supported by the Ministry of Education and National Research Foundation of Korea","award":["1345356152"],"award-info":[{"award-number":["1345356152"]}]},{"name":"\u201cLeaders in INdustry-university Cooperation 3.0\u201d supported by the Ministry of Education and National Research Foundation of Korea","award":["KIMST-20210591"],"award-info":[{"award-number":["KIMST-20210591"]}]},{"name":"\u201cDevelopment of cloud-based next-generation VTS integration platform\u201d funded by the Korea Coast Guard","award":["1345356152"],"award-info":[{"award-number":["1345356152"]}]},{"name":"\u201cDevelopment of cloud-based next-generation VTS integration platform\u201d funded by the Korea Coast Guard","award":["KIMST-20210591"],"award-info":[{"award-number":["KIMST-20210591"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Map space composition is the first step in ship route planning. In this study, a map modeling method for path planning is proposed. This method incorporates the safety margin based on the theory of geographic space existing in coastal waters, maneuvering space according to ship characteristics, and the psychological buffer space of a ship navigator. First, the obstacle area was segmented using the binary method\u2014a segmentation method\u2014based on the international standard electronic chart image. Next, the margin space was incorporated through the morphological algorithm for the obstacle area. Finally, to minimize the space lost during the route search, the boundary simplification of the obstacle area was performed through the concave hull method. The experimental results of the proposed method resulted in a map that minimized the area lost due to obstacles. In addition, it was found that the distance and path-finding time were reduced compared to the conventional convex hull method. The study shows that the map modeling method is feasible, and that it can be applied to path planning.<\/jats:p>","DOI":"10.3390\/s23031723","type":"journal-article","created":{"date-parts":[[2023,2,6]],"date-time":"2023-02-06T02:06:43Z","timestamp":1675649203000},"page":"1723","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Map Space Modeling Method Reflecting Safety Margin in Coastal Water Based on Electronic Chart for Path Planning"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0908-2332","authenticated-orcid":false,"given":"Da-un","family":"Jang","sequence":"first","affiliation":[{"name":"Graduate School of Maritime Transportation System, Mokpo National Maritime University, 91, Haeyangdaehak-ro, Mokpo-si 58628, Jeollanam-do, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5344-9205","authenticated-orcid":false,"given":"Joo-sung","family":"Kim","sequence":"additional","affiliation":[{"name":"Division of Navigation Science, Mokpo National Maritime University, 91, Haeyangdaehak-ro, Mokpo-si 58628, Jeollanam-do, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/TC.1983.1676196","article-title":"Spatial planning: A configuration space approach","volume":"C-32","year":"1983","journal-title":"IEEE Trans. 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