航路規劃對於船舶航行安全與經濟影響甚鉅！於前人研究中，避障方法大都 使用多方向搜尋法，逐一向鄰近網格搜尋的方式來規劃出避障航路，但所規劃之 航路大都以距離考量而致轉向點過於繁複，不符合實際航海習慣；也有藉助泛用 型啓發式的最佳化演算法，卻難以避免陷入區域最佳解之問題。因此，本研究係 參考陸上自動導航車的避障概念，考量船舶近岸航行之避障安全距離、航路所接 觸單一或多障礙等情況，運用地理資訊系統優異的空間幾何運算能力，自動且即 時地規劃出避障路徑，最後結合轉向點消弭模組及避障航路平滑簡化機制，透過 VC#程式開發GUI 介面程序，建構出符合航海者習慣及實務需求的船舶近岸航行 之避障航路規劃模式，期可供後續ECDIS 航儀助航功能性提昇的整合發展，並協 助航行員在進行航路規劃時之參考。

Appropriate Route planning has a great effect on navigational safety. Current researches with the objective of obstacle avoidance methods are most to obtain the shortest routes based on multi-directional algorithms. However, such approaches acquire results depending on the shortest-distance, resulting in producing too many waypoints on the detouring route. This is not the customary practice in navigation. Moreover, some metaheuristic algorithms proposed in the literatures are difficult to avoid acquiring the local optimum. Therefore, the purpose of this study is to develop an approach associated with the customary practice in coastal navigation under the framework of the MGIS system that can be assisted with route planning for navigational obstacle avoidance. This is done on the basis of the obstacle avoidance concept that an Autonomous Land Vehicle (ALV) detoured along the barrier boundary with keep a distance away, and a variety of unnavigable area conditions on preliminary route planning. The model proposed also consists of the procedure of the smooth and simplified process and waypoint adjustment function, as well as the GUI interface are all programmed by the Visual C Sharp language. It hopes for providing a reference for the subsequent development of an automated route planning module integrated into the ECDIS system, and could also assist navigators in their route planning in coastal navigation implementation.