为解决船舶在极地海域下的动态路径规划问题，提出一种结合极地运行限制风险评估系统（POLARIS）的改进D^* Lite动态路径规划算法。首先，引入POLARIS风险模型，通过分析栅格化的海冰密集度和海冰厚度数据，结合船舶类型，建立极地通航风险模型，构建具有通航风险指数的栅格环境地图，并对D^* Lite算法的代价函数进行重新构建；其次，通过扩展搜索邻域，使船舶转弯角度不局限于π/2或π/4的整数倍，提高路径平滑，缩短路径长度；最后，通过引入因安全系数膨胀不可通航区域附近栅格的通航指数，提高预规划和重规划航线远离固定障碍物概率。仿真实验表明，改进后的D^* Lite算法较传统算法不仅减少了15.49 % ~ 40.3 %的海冰风险数，而且减少了2.99 % ~ 5.32 %的路径长度和45.95 % ~ 60.98 %路径拐点数。

To solve the problem of dynamic path planning of ships in polar waters, an improved D^* Lite path planning algorithm was proposed combined with the Polar Operational Limit Assessment Risk Indexing System (POLARIS) to adapt to polar navigation. First, the POLARIS risk model was introduced,and by analyzing the grid-based sea ice concentration and sea ice thickness data, a polar navigation risk model was established combined with ship types. The grid environment map with navigation risk index was constructed, and the cost function of the D*Lite algorithm was reconstructed. Secondly, by extending the search neighborhood, the ship's turning Angle was not limited to integer multiples of π/2 or π/4,as a result  improving path smoothness and shortening  path length. Finally,  by introducing the navigable index of grids near non-navigable  areas due to safety factor expansion, the probability of pre-planned and re-planned routes moving away from immobilized obstacles was increased. Simulation experiments show that the improved algorithm of D^* Lite algorithm not only reduces sea ice risk by 15.49 % to 40.3 % compared to traditional algorithms , but also reduces path length by 2.99% to 5.32% and path inflection points by 45.95% to 60.98%.