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：本文提出了一种称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，用于寻找船舶到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，并利用一种启发式策略，使船舶能够向前移动，同时始终保持在以目的地为中心的预定搜索锥内。该方法不仅提高了效率，还具备避障能力，非常适合实际应用场景。我们通过合成向量场和真实海洋流数据对混合搜索算法的性能进行了评估，验证了其有效性和性能。