Method for determining local optimal route of ship navigation by aiming at convex obstacles

Abstract

The invention discloses a method for determining a local optimal route of ship navigation by aiming at the convex obstacles. The method includes the following six steps: confirming the starting point, the target point and the area of the navigation by combining the task information; generating the no-sail zones according to the convex obstacles in the navigation area; using the longitude and latitude to generate a grid map based on the navigation area; calculating all the basic elements of the navigation route-planning technology; connecting the starting point with the target point by a straight line and calculating the included angle between the connecting line and the north direction; introducing the included angle as heuristic information into the navigation route-planning technology to obtain a local optimal route. In the method, the included angle between the north direction and the connecting line from the starting point to the target point is introduced as heuristic information into the navigation route-planning technology. Taking into account the relative positions of the starting point and the target point, the method is conveniently implanted in the ship navigation route-planning system, more efficiently provides the navigators with the local optimal route which meets the actual requirements, and makes the ship navigation safe and economical during the whole navigation route.

Description

technical field [0001] The invention provides a method for determining a local optimal path of a ship's navigation for convex obstacles, and belongs to the technical field of safe navigation of a ship's route. Background technique [0002] With the continuous increase of navigation demand, ship route planning technology has been paid more and more attention by people. Ship route planning includes global route planning and local route planning, based on static geographic information (islands, reefs, etc.) and dynamic meteorological information (wind, wave, current, etc.), combined with the state of the hull and its motion performance, taking into account both economy and safety From the starting point to the destination point, plan a route with the optimization goal of the least time, the shortest distance, the most fuel-saving or arriving on time. [0003] The A* algorithm in the ship route planning technology is obtained by introducing a heuristic function based on the Dij...

AI Technical Summary

Problems solved by technology

Although the classic A* algorithm has been improved, it still has shortcomings. For example, when using the classic A* algorithm in the grid map route planning process, it is necessary to connect all feasible waypoints adjacent to each waypoint Traversing once, when the number of waypoints in the grid map is large, the calculation amount of the classic A* algorithm to find the optimal path will increase sharply, resulting in a decrease in the efficiency of finding the optimal path

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