A dynamic optimization method for ships avoiding Taiwan routes based on branch and bound technology
A branch-and-bound, dynamic optimization technology, applied in the field of ship navigation, can solve the problems of automatic design of avoiding Taiwan routes, large amount of calculation, low precision, etc., and achieve the effect of simple design, small amount of calculation, and accurate results.
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[0039] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0040] The technical solutions adopted by the present invention to solve its technical problems are:
[0041] 1. First establish a mathematical model
[0042] 1) Grid the navigating sea area of the ship, and establish a two-dimensional xy coordinate axis with a certain point in the sea area as the origin in the navigating sea area. The length of the cell in the x-axis direction is s*cosβ, and the cell length in the y-axis direction is s; where β Is the latitude corresponding to the current grid point; set the starting point of the route as Q(a,b) and the end point as Z(c,d);
[0043] 2) According to the coordinates of eac...
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