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Ant colony algorithm based independent planning method of autonomous ship navigation path

An ant colony algorithm and path planning technology, applied in navigation, surveying and navigation, road network navigator, etc., can solve problems such as difficulty in ensuring safety

Inactive Publication Date: 2018-03-20
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

Because the situation at sea is unstable, you can't go too far on the ocean, otherwise it will be difficult to guarantee safety

Method used

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  • Ant colony algorithm based independent planning method of autonomous ship navigation path
  • Ant colony algorithm based independent planning method of autonomous ship navigation path
  • Ant colony algorithm based independent planning method of autonomous ship navigation path

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Embodiment Construction

[0042] The embodiments of the present invention will be further described in detail below in conjunction with the drawings and specific examples.

[0043] An ant colony algorithm-based autonomous navigation path planning method for unmanned ships, the method comprising:

[0044] The nautical chart is processed to obtain a modelable map information matrix suitable for environmental modeling (see figure 1 );

[0045] With the described map information matrix that can be modeled as a model, the grid method is used to carry out environmental modeling on MATLAB (see figure 2 );

[0046] Use the unmanned ship path planning algorithm based on the ant colony algorithm to plan the path on the model to obtain an optimal path from the starting point to the ending point;

[0047] Finally, output the node coordinates of the path, and output the latitude and longitude coordinates through coordinate conversion;

[0048] Through the latitude and longitude coordinates, the paths are trace...

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Abstract

The invention discloses an ant colony algorithm based independent planning method of an autonomous ship navigation path. The method comprises the following steps: processing a marine map to obtain a modeling map information matrix suitable for environmental modeling; performing environmental modeling in an MATLAB through a grid method with the modeling map information matrix as a model; performingpath planning on the model through the ant colony algorithm based autonomous ship planning algorithm, thereby obtaining an optimal path from the starting point to the end point; outputting node coordinates of the path; transforming the coordinates to output the coordinates of latitude and longitude; and correspondingly depicturing the path on the marine map based on the coordinates of latitude and longitude, thus realizing the result of displaying the planned path on the marine map. According to the method, the optimal planned path can be effectively displayed in the map, and the requirementsof actual application are met.

Description

technical field [0001] The invention relates to the technical field of intelligent control of unmanned ships, in particular to an ant colony algorithm-based autonomous planning method for navigation paths of unmanned ships. Background technique [0002] The development of the world today is getting faster and faster. No matter in the field of science and technology or the field of humanities, good progress has been made, and there are many good successes. Today, land resources have been fully developed. With the advancement of science and technology, we have begun to move towards the ocean. The ocean is still full of many unknown places for today's human beings, the most important of which is of course limited by the level of technological development. Because the situation at sea is unstable, you can't go too far on the ocean, otherwise it will be difficult to guarantee safety. [0003] my country's territorial sea area has reached 4.7 million square kilometers, and there...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 洪晓斌子文江
Owner SOUTH CHINA UNIV OF TECH
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