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Dynamic planning idea based ship path planning method

A technology of dynamic planning and path planning, which is applied in the directions of measuring devices, instruments, surveying and navigation, etc., can solve problems such as difficult to exert effects, and achieve the effects of effective and accurate paths, improved operating speed, and saved memory space

Active Publication Date: 2019-08-20
HARBIN ENG UNIV
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Problems solved by technology

If a suitable operator cannot be designed, it will be difficult for this method to exert its due effect

Method used

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  • Dynamic planning idea based ship path planning method
  • Dynamic planning idea based ship path planning method
  • Dynamic planning idea based ship path planning method

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Embodiment

[0060] 1. Generate a radial grid point map:

[0061] The present invention adopts the Cartesian coordinate system, first sets an initial route for the own ship, and establishes a radial grid point map on the basis of the route. Suppose the initial route is given by (x 0 ,y 0 ), (x 1 ,y 1 ), (x 2 ,y 2 ) is a polyline formed by connecting three points in turn. Divide each of these two polylines into N equal parts. N can be adjusted according to the actual effect. In this way, 2N+1 points can be obtained. Then the coordinates of the 2N+1 points are determined by linear interpolation. (x 0 ,y 0 ) to (x 1 ,y 1 ) segment interpolation point coordinate formula is as follows:

[0062]

[0063] (x i0 ,y i0 ) means (x 0 ,y 0 ) is the coordinates of the starting point on the i-th interpolation point on the polyline. Similarly, it can be obtained (x 1 ,y 1 ) to (x 2 ,y 2 ) coordinates of segment interpolation points. In the actual voyage, select the position of ...

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Abstract

The invention discloses a dynamic planning idea based ship path planning method, and belongs to the field of ship path planning. The method comprises the steps that (1) a radial grid map is established; (2) the grid map is endowed with navigation information; (3) an evaluation function and a state transition equation are established; and (4) radial grids are searched for an optimal path by means of the dynamic planning ideal. The method has the advantages that the radial grid map is established according to a ship course, a planned course satisfies motion characteristics of the ship more, anda dynamic planning algorithm can be used to divide decision stages; condition constraint is carried out via the evaluation function by using the dynamic planning ideal, so that planning time is least,the limit of a rudder angle is met, deviation of the course from an original course is minimal, and courses of barrier ships can be avoided; and the algorithm is high in computing speed, and can be used to obtain the optimal course that meets the condition constraint.

Description

technical field [0001] The invention belongs to the field of ship path planning, and in particular relates to a ship path planning method based on dynamic programming ideas. Background technique [0002] With the rapid development of the national economy, the number of ships in my country's sea areas has increased sharply, and the traffic flow of ships has increased accordingly. Sea ship traffic safety accidents have occurred frequently. The causes of maritime traffic accidents are complex, most of which are due to the incomplete observation of the ship. When the collision avoidance behavior is adopted, the time limit and the collision avoidance behavior adopted by the own ship, other ships or both parties are not suitable, resulting in collision accidents. Therefore, it is of great practical and theoretical significance to study the ship's path planning algorithm to avoid the collision between our ship and other ships. [0003] A simple approach is to discretely decompose ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 苏丽秦绪杰张智夏桂华朱齐丹
Owner HARBIN ENG UNIV
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