Method and system for planning sea path of unmanned ship based on RRT (rapidly-exploring random tree) algorithm

Abstract

The invention discloses a method and a system for planning a sea path of an unmanned ship based on an RRT (rapidly-exploring random tree) algorithm. The method comprises the following steps of obtaining data of a sea map, so as to obtain complete information of the sea map; according to the definition of a polygon of the sea map, displaying the conditions of the sea surface, and rasterizing the original vector data, so as to obtain a complete interface of the sea map; enabling a user to set passing points on the interface of the sea map, and planning the path within the preset time threshold value by an improved RRT algorithm, so as to obtain the final asymptotically optimal effective path; converting the final effective path into the practical longitudinal and altitude information, outputting the longitudinal and altitude information of turning points on the path, and providing for a power control system of the unmanned ship to use. The method has the advantages that the RRT algorithmis further improved, the path passing the multiple preset passing points is planned, and a path compression algorithm is applied so as to effectively reduce the path distance.

Description

technical field [0001] The invention relates to the technical field of automatic navigation planning of an unmanned ship, in particular to a sea surface path planning method and system for an unmanned ship based on an RRT algorithm. Background technique [0002] With the rapid development of science and technology, the field of sea navigation of modern unmanned ships is constantly being developed and utilized. Unmanned ships play an unpredictable and important role in autonomous navigation, especially in areas such as sea patrol and cargo delivery. At present, the rise of artificial intelligence promotes the rapid development of unmanned driving technology, and more and more path planning algorithms have been proposed one after another. However, the path planning method for unmanned ships based on sea surface information mainly uses traditional path planning algorithms, such as: artificial potential field method, Dijkstra search algorithm, genetic algorithm, etc. These algo...

AI Technical Summary

Problems solved by technology

These algorithms have the following shortcomings: they cannot solve the sea environment with many obstacles and complex conditions; the genetic algorithm planning time is relatively long, and the real-time performance is relatively poor

At the same time, for the path planning of unmanned ships on the sea surface, a path may need to reach multiple set points. Therefore, it is of practical significance to further plan an algorithm that can pass through multiple set points. The algorithm has obvious shortcomings in dealing with path planning of multiple target points, and only considers the case of one starting point and one ending point

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