Optimal global path planning method for unmanned boat ant colony energy consumption based on electronic chart

A global path planning and electronic chart technology, applied in artificial life, design optimization/simulation, non-electric variable control, etc., can solve the problem that the optimal energy consumption of unmanned boats cannot be guaranteed

Active Publication Date: 2021-12-24
HARBIN ENG UNIV
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Problems solved by technology

Under the influence of ocean currents, the optimal distance in the general sense does not guarantee the optimal energy consumption of unmanned boats.

Method used

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  • Optimal global path planning method for unmanned boat ant colony energy consumption based on electronic chart
  • Optimal global path planning method for unmanned boat ant colony energy consumption based on electronic chart
  • Optimal global path planning method for unmanned boat ant colony energy consumption based on electronic chart

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Embodiment Construction

[0075] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.

[0076] 1. Electronic chart conversion

[0077] Convert the S-57 electronic chart into shape format and .jpg format. Before performing environmental modeling with the visualization method, the converted format should be further processed, so that it can be edited and processed by matlab software: first, use the graythresh function Automatically determine the binarization threshold, and then use the im2bw function to binarize the image. The infeasible area is processed as black, and the parameters in the corresponding X-Y coordinate system are marked as 0, and the feasible area is white, marked as 1, so as to convert the image Separate different areas in (such as figure 2 ).

[0078] Using the visualization method to model the environment, first find the vertices of the obstacles, plus the coordinates of the starting point and the target point, an...

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Abstract

The invention provides an electronic chart-based global path planning method for optimal energy consumption of unmanned ship ant colonies. 1. After processing the electronic chart and converting it into a processable file form, determine the feasible area and obstacle area of ​​the map, and use the visualization method to find out the set of feasible paths between the starting point, target point and obstacle vertices to ensure These routes do not pass through unfeasible areas to ensure the safety of navigation of unmanned surface vehicles. 2. Establish a mathematical model of motion, and establish a motion model of the unmanned ship, so as to realize the grasp of the propulsion and motion characteristics of the unmanned ship. 3. Unmanned boat data acquisition, when the unmanned boat sails on the water surface, it obtains information such as the course, hull position, and vertical acceleration of the ship; 4. Uses the ant colony algorithm to search for a track that meets the requirements. 5. Establish the energy consumption model of the unmanned surface vehicle under the interference of ocean currents, and improve the ant colony algorithm on the premise of optimal energy consumption to obtain the path that meets the safe navigation conditions and consumes the least energy.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/27G06N3/00G05D1/08
CPCG05D1/0875G06N3/006G06F30/20Y02A90/10
Inventor 王元慧沈佳颖田怡婧赵亮博刘向波
Owner HARBIN ENG UNIV
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