Apparatus and methods for routing
An electronic navigational route developer may accept user input regarding the user's boat, such as height, draft and beam, and develop a route from a start point to end point based on cartographic information and the boat information.
1. An electronic navigational router, comprising:
an electronic marine route developer employing measured water depth information to develop marine navigational routes; and
a user interface to accept user input regarding the end point of a marine route, wherein the electronic route developer is configured to:
automatically develop a route based upon the user-supplied end point;
discretize into uniform square discretized cells a multidimensional region that encompasses start and end points with nodes placed in cells, each node connected with its neighbors; and
develop a marine route that includes at least one intervening waypoint when the end point and a start point are not points of navigable visibility to one another, wherein the electronic router includes water depth measurements in a determination of navigable visibility.
2. The electronic navigational router of claim 1 wherein the router is configured to accept either a user-supplied start point or a navigational system-supplied start point.
3. The electronic navigational router of claim 1 wherein the router is configured to:
extract potential waypoints from cartographic data representing a region that encompasses user-supplied start and end points.
4. The electronic navigational router of claim 1 wherein the route developer is configured to associate a node with each discretized cell within the region and to connect each node with its neighbors with bidirectional edges.
5. The electronic navigational router of claim 1 wherein the route developer is configured to develop a set of candidate nodes based upon points of navigable visibility.
6. The electronic navigational router of claim 1 wherein the route developer is configured to generate candidate nodes and select a node from among the candidate nodes to be a selected node based upon the cost of a link between currently selected node and the candidate nodes.
7. The electronic navigational router of claim 1 , wherein the route developer is configured to:
generate candidate nodes; and
develop a route using start and end points and nodes selected from among candidate nodes based on least-cost to complete the route between start and end nodes.
8. The electronic navigational router of claim 1 , wherein the route developer is configured to extract potential waypoints from cartographic data representing a sub-region that encompasses user-supplied start and end points.
9. The electronic navigational router of claim 8 , wherein the route developer is configured to associate a node with each discretized cell within the sub-region, nodes connected with neighboring nodes using bidirectional edges.
10. The electronic navigational router of claim 8 , wherein the route developer is configured to develop a set of candidate nodes from among the nodes within discretized cells, based upon points of navigable visibility.
11. The electronic navigational router of claim 10 , wherein the route developer is configured to select a node from among the candidate nodes to be a selected node based upon the cost of a link between a currently selected node and the candidate nodes.
12. The electronic navigational router of claim 11 , wherein the route developer is configured to develop a route using start and end points and selected nodes to complete the route between start and end nodes using least-cost node connections.
13. The electronic navigational router of claim 1 , wherein the router comprises:
an automatic electronic navigational route developer;
a manual electronic navigational route developer; and
a user interface to accept user input to allow a user to select either the automatic or manual electronic route developer to develop a navigational route.
14. The electronic navigational router of claim 13 , wherein the router is responsive to user input to edit a route.
15. The electronic navigational router of claim 14 , wherein the router is responsive to user input to edit a route that is currently being developed by the automatic electronic route developer.
16. The electronic navigational router of claim 15 , wherein the router is responsive to user input to delete a waypoint by deleting the waypoint from the route and directly connecting the two waypoints to which the deleted waypoint had been linked.
17. The electronic navigational router of claim 15 , wherein the router is responsive to user input to add a waypoint by adding the waypoint, breaking the link between the two nearest waypoints, and creating links that connect the new waypoint to the two nearest waypoints.
18. The electronic navigational router of claim 15 , wherein the router is responsive to user input to move a waypoint by automatically adjusting the links between the moved waypoint and its neighboring waypoints to which it is connected.