Unmanned ship track planning method based on deep optimization

Abstract

The invention belongs to the technical field of unmanned ship navigation control, and specifically relates to anunmanned ship track planning method based on deep optimization. The unmanned ship trackplanning method based on deep optimization comprises the following steps that rasterized map information is read, starting and ending points are set, the obtained starting point and reachable neighbornodes in the eight directions of the starting pointare added to theopenlist; the point with the smallest F value in the openlistis searched for and set as the current node; whether the current node is the ending point or not is determined; if yes, then path searching is over; if not, then the current node is utilized to search for a next jump-point based on a jump-point search strategy; whether the jump-point is in the openlistor not is determined, and the point with the smallest F value is continuously searched for; and an optimal path is outputted. According to the unmanned ship track planning method based on deep optimization,the execution efficiency of grid method track planning algorithm is greatly improved based on the jump-point search optimization preprocessing algorithm,an path turning point is optimized, and finally a smooth navigation track is outputted.

Description

technical field [0001] The invention belongs to the technical field of navigation control of unmanned ships, in particular to an unmanned ship track planning method based on depth optimization. Background technique [0002] Ship track planning means that the ship can independently plan an optimal path (that is, the shortest path) according to the navigation environment under the premise of ensuring safety (avoiding various dynamic or static obstacles). [0003] Among them, the path optimization based on the grid method is the most commonly used and most effective trajectory planning method at present. The grid method refers to gridding the background map, and then performing path planning based on the grid. [0004] However, there are still many defects in the grid-based trajectory planning algorithm currently used, and there is still room for in-depth optimization. First of all, because the algorithm traverses too many points, the execution speed will be reduced and the e...

AI Technical Summary

Problems solved by technology

First of all, because the algorithm traverses too many points, the execution speed will be reduced and the execution efficiency will be reduced

Secondly, because the algorithm is based on grid point finding, the planned path is composed of several broken lines, which is not smooth. In actual operation, it will increase the difficulty of controlling the ship at the turning point, which is not conducive to its navigation.

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