A path planning method for intelligent unmanned ships based on ia* algorithm

Abstract

The invention relates to an intelligent unmanned ship path planning method based on an IA* algorithm. The method includes that an unmanned ship acquires rasterization information with obstacle information according to a known electronic chart, departure point information, destination point information and basic information of the unmanned ship; acquires adjacent waypoints of the current waypoint according to the waypoint search mode in 16 directions and adopts a comprehensive evaluation function to acquire an evaluation value of each adjacent waypoint; selects the adjacent waypoint corresponding to the minimum value from the evaluation value as the selected waypoint, and repeats the above waypoint acquisition step until the destination point information is obtained. By means of the method,the planning efficiency is high, the steering angle is small, the path is the shortest, and safety and stability can be acquired. The algorithm has high planning speed, can effectively avoid sudden obstacles and can be used in large-scale intelligent unmanned ship autonomous navigation systems. By means of the method, global route design or local obstacle avoidance path planning can be carried out.

Description

technical field [0001] The invention relates to the field of intelligent unmanned ship path planning, in particular to an intelligent unmanned ship path planning method based on the IA* algorithm. Background technique [0002] Intelligent unmanned ship is a kind of unmanned ship, which has autonomous navigation, intelligent engine room, energy efficiency management, cargo transportation and intelligent integration platform. It integrates technologies such as ship, communication, automation, robot control, remote monitoring and networked system. It can realize functions such as autonomous navigation and intelligent obstacle avoidance. Compared with manned ships, intelligent unmanned ships have the advantages of high safety factor, economical and environmental protection, green and energy saving. The path planning of intelligent unmanned ships is the core content of the autonomous navigation system of intelligent unmanned ships. [0003] At present, there are many path plann...

AI Technical Summary

Problems solved by technology

[0007] In view of the shortcomings of the existing path planning methods for intelligent unmanned ships that cannot guarantee the safe, stable and efficient navigation of intelligent unmanned ships, and the global path planning of intelligent unmanned ships based on the A* algorithm, there is a large turn in the path and there is a gap between the path and the obstacle. For problems with short distances, provide an intelligent unmanned ship path planning method based on the improved A* algorithm (IA* algorithm, Improved A*Algorithm) that can generate safe, stable, and optimal routes

Solve the problem of poor maneuverability and easy grounding of ships, achieve fast, safe and stable obstacle avoidance effects, increase the maneuverability of intelligent unmanned ships, and avoid ship rollovers and capsizing due to excessive steering angles, which is very important for the realization of intelligent unmanned ships Intelligent navigation provides the basis

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