Unmanned vessel ant colony energy consumption optimal global path planning method based on electronic nautical chart

Abstract

The invention provides an unmanned vessel ant colony consumption optimal global path planning method based on an electronic nautical chart. The method comprises the steps of 1, processing the electronic nautical chart, wherein after the electronic nautical chart is converted into the form of a file capable of being processed, a feasible area and an obstacle area of a map are determined, a visibility graph method is utilized to find out a set of feasible paths among an initial point, a target point and the vertex of an obstacle, it is guaranteed that the paths do not pass through an unfeasiblearea, and the sailing safety of the unmanned surface vessel is guaranteed; 2, building a motion math model, wherein the motion model of an unmanned vessel is built, and thus the thrust and motion characteristics of the unmanned vessel are grasped; 3, obtaining unmanned vessel data, wherein when the unmanned vessel sails on the water surface, information data like the heading, the vehicle body position and vertical acceleration of the vehicle is obtained; 4, utilizing an ant colony algorithm to search for a track meeting requirements; 5, building an unmanned surface vessel energy consumption model under ocean current disturbance, wherein with the optimal energy consumption being the premise, the ant colony algorithm is improved to obtain the path satisfying safe sailing conditions and having the smallest energy consumption. By comparing the paths under two preconditions, the effectiveness of the designed algorithm is proved.

Description

technical field [0001] The invention relates to a global path planning method for an unmanned boat, in particular to an optimal global path planning method for ant colony energy consumption of an unmanned boat on an electronic chart. Background technique [0002] In the navigation system of unmanned surface vehicles, path planning is one of the most important tasks, and the global path is an important subject, which is very important for the research of unmanned surface vehicles. The electronic chart contains detailed chart information; the visual map method can find out the set of feasible paths between the starting point, the target point and the obstacle vertices in the map; the ant colony algorithm has good positive feedback and robustness, and can find A path that meets certain requirements. Under the influence of ocean currents, the optimal distance in the general sense does not guarantee the optimal energy consumption of unmanned boats. Contents of the invention ...

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Under the influence of ocean currents, the optimal distance in the gene...

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