Abstract
To address the lack of compliance with the International Regulations for Preventing Collisions at Sea (COLREGs) in conventional timed elastic band (TEB)—based dynamic path planning for autonomous surface vessels (ASVs), this study proposes an intelligent path-planning framework that integrates an improved jump point search (JPS) algorithm with a COLREGs-aware TEB approach. At the global planning layer, an enhanced JPS algorithm incorporating redundant-node elimination and cubic Bezier curve smoothing is developed to construct the JPS–PB method, thereby reducing path redundancy and improving trajectory continuity. At the local planning layer, COLREGs encounter rules are reformulated as differentiable cost functions and embedded into the TEB optimization framework, enabling rule-compliant collision avoidance in typical maritime encounter scenarios, including head-on, crossing, and overtaking situations. Simulation results demonstrate that, compared with the conventional JPS algorithm, the proposed JPS-PB method reduces the path length by up to 8.6%, decreases the cumulative steering angle by 58.6%, and lowers the maximum steering angle by 88.6% on a 12 × 12 grid environment. Furthermore, compared with the conventional TEB algorithm, the proposed COLREGs–aware TEB (CTEB) increases the Distance at the Closest Point of Approach (DCPA) by 543%, 20.5%, 4.8%, and 13.8% in starboard-crossing encounters, head-on, overtaking, and special port-side-crossing encounter scenarios, respectively. Parameter sensitivity analyses further indicate that CTEB maintains stable collision-avoidance performance and rule-compliance capability under variations in the danger–distance threshold, danger–time threshold, and COLREGs cost weight. The results verify that the proposed JPS–PB+CTEB hybrid framework effectively improves path quality, dynamic obstacle-avoidance safety, and navigation-rule compliance for autonomous ASV operations.