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A dynamic optimization method for the global path of unmanned ships based on the firefly algorithm

A firefly algorithm and dynamic optimization technology, applied in the field of dynamic optimization of the global path of unmanned ships based on the firefly algorithm, can solve problems such as the complexity of the obstacle avoidance algorithm and the limitation of the planned path, and achieve a simple algorithm, fast response speed, and high efficiency Effect

Active Publication Date: 2021-06-25
智慧航海(青岛)科技有限公司
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Problems solved by technology

[0005] In order to solve the technical problems that the path planning algorithm in the prior art needs to model the environment, the planned path is limited by the model, and the obstacle avoidance algorithm is complicated, the present invention provides a dynamic optimization method for the global path of unmanned ships based on the firefly algorithm

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  • A dynamic optimization method for the global path of unmanned ships based on the firefly algorithm
  • A dynamic optimization method for the global path of unmanned ships based on the firefly algorithm

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Embodiment 1

[0043] Such as figure 1 As shown, the present embodiment provides a method for dynamically optimizing the global path of an unmanned ship based on the firefly algorithm, which specifically includes the following steps:

[0044] S1. Obtain the target point P of the unmanned ship navigation mission g (x g ,y g ), and generate the target point P g (x g ,y g ) target area S;

[0045] Wherein, the target area S is, with the target point P g (x g ,y g ) as the center of the circle, with the preset duration t and the current speed V c the circular area whose product is the radius;

[0046] S2. Obtain the current position P o (x o ,y o ) and current speed V c , the current position P o (x o ,y o ) with the target point P g (x g ,y g ) as the sailing direction of the unmanned ship;

[0047] Assuming that there is no obstacle between the current position and the target point, the initial route is a straight line segment connecting the current position and the target...

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Abstract

The present invention relates to a method for dynamically optimizing the global path of an unmanned ship based on a firefly algorithm; it includes the following steps: S1, obtaining a target point and a target area; S2, obtaining the current position and current speed, and obtaining the navigation direction; S3, according to the current position, The current speed and navigation direction determine the position that the unmanned ship can reach after the preset time length and use it as the predicted next path point; S4, judge the predicted next path according to the pre-acquired external environment information and real-time acquired detection information Whether the point belongs to the target area and whether the predicted next path point belongs to the non-navigable area; S5, if encountering an obstacle point, avoid the obstacle through the firefly algorithm, and return to step S2 until the unmanned ship reaches the target point; the present invention does not need to establish The environment model can detect and avoid obstacles in real time during the navigation process. The path planning takes a short time and has high efficiency. It is suitable for dealing with the global path dynamic optimization problem of unmanned ships.

Description

technical field [0001] The invention relates to the technical field of unmanned ship path planning, in particular to a dynamic optimization method for the global path of an unmanned ship based on a firefly algorithm. Background technique [0002] Path planning is the premise and basis for autonomous navigation of unmanned ships. In the field of path planning, the emergence of bionic algorithms has greatly promoted the development of path planning methods. The firefly algorithm was first proposed to solve the global optimal problem, and then it was applied in the field of path planning. [0003] The existing path planning method based on the firefly algorithm first establishes an environment model, and then comprehensively considers factors such as path length, path smoothness, and collision risk. The path set selects the optimal path. At present, all related methods are based on known static environment information modeling, and then carry out path planning, and finally pl...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06Q50/30G06N3/00
CPCG06N3/006G06Q10/047G06Q50/30
Inventor 姜雨函王晓原夏媛媛刘亚奇唐学大高杰朱慎超
Owner 智慧航海(青岛)科技有限公司
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