Automatic smoothing method and device for ship navigation path

Abstract

The invention discloses an automatic smoothing method for a ship navigation path. The method comprises the steps of S1, obtaining a ship reference path; S2, starting from the initial path point, sequentially assigning the path points to a first target point, a second target point and a third target point; S3, determining an arc-shaped path passing through the three target points; when a safe pathpoint exists on an arc path between the first target point and the second target point, inserting the safe path point into a reference path, and performing S4; otherwise, carrying out S4; s4, if the initial path point is one of the last three path points, carrying out S5; otherwise, taking an inflection point corresponding to the second target point as an initial path point, and repeating S2; s5,if the initial path point is one of the last two path points, outputting an optimized path of the ship; otherwise, taking the last inflection point as the initial path point, sequentially assigning the path points to the first target point, the second target point and the third target point according to the reverse order, and repeating S3. And the air route is smoother on the premise that the overall air route length is not increased.

Description

technical field [0001] The invention relates to the technical field of navigation path planning, in particular to an automatic smoothing method and device for a navigation path of a ship. Background technique [0002] Route planning is one of the prerequisites for maritime ship navigation. With the continuous advancement of technology, various route planning algorithms replace artificially set navigation path points to generate ship routes on their own. However, limited by the differences in algorithm rules and ship technology, the route obtained by automatic planning may have problems such as too large steering angle at some positions, not smooth enough route, and too close to shore or obstacles in the route obtained by automatic planning. Therefore, it is necessary to automatically and smoothly adjust the planned route according to actual needs. [0003] Therefore, there is an urgent need for an automatic smoothing method and device for a ship's navigation path. Content...

AI Technical Summary

Problems solved by technology

Make the route optimization smoother, and can fully solve the problems that may exist in some positions of the original route, such as excessive steering angle, not smooth enough route, and too close distance to shore base or obstacles, etc.

Images