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The City defines "parade" as any march, ceremony, show, exhibition, pageant or procession of any kind or any similar display in or upon any street, park or other public place.", and all parades require permits. All such permits must be gotten at least five days in advance to the City Clerk and also pass by the desk of Chief Barnett for approval. So you definitely need to avoid the street except at crosswalks.
I can find nothing that disallows such a procession along the sidewalk or public right of way, but Chief Barnett may get creative in crafting one. A lot more creative than his line of investigating this case would have you believe.
Make sure you research the route you plan beforehand because there are a lot of areas in Ludington with no sidewalks and plenty of junk along the side of the road. Including those annoying campaign signs, LOL.