In this paper, we present a novel algorithm called the Hybrid Search algorithm that integrates the Zermelo's Navigation Initial Value Problem with the Ferraro-Mart\'in de Diego-Almagro algorithm to find the optimal route for a vessel to reach its destination. Our algorithm is designed to work in both Euclidean and spherical spaces and utilizes a heuristic that allows the vessel to move forward while remaining within a predetermined search cone centred around the destination. This approach not only improves efficiency but also includes obstacle avoidance, making it well-suited for real-world applications. We evaluate the performance of the Hybrid Search algorithm on synthetic vector fields and real ocean currents data, demonstrating its effectiveness and performance.

翻译：本文提出了一种名为混合搜索算法的新方法，该算法将Zermelo导航初值问题与Ferraro-Martín de Diego-Almagro算法相结合，用于寻找船舶抵达目的地的最优路径。我们的算法适用于欧几里得空间和球面空间，并利用启发式策略，使船舶在保持以目的地为中心的预定搜索锥范围内向前移动。该方法不仅提升了效率，还包含了避障功能，使其非常适合实际应用。我们通过合成向量场和真实海流数据评估了混合搜索算法的性能，证明了其有效性和优越性。