Multi-target path planning method for unmanned cruise ship under dynamic obstacle

Abstract

The invention discloses a multi-target path planning method for an unmanned cruise ship under a dynamic obstacle, and relates to the technical field of water quality sampling and path planning. The method comprises the steps that: an unmanned aerial vehicle collects an image of a lake surface environment, grid segmentation is carried out, and a starting point and a plurality of sampling points areset on a grid map; an improved grey wolf optimization algorithm is adopted to perform sequence optimization on the plurality of sampling points, and the sampling points with the optimal sequence aremarked on a map one by one; an optimal grid path is calculated between every two sampling points marked in the grid map by utilizing a D* Lite algorithm to obtain an optimal path from the starting point to the final sampling point; and finally, the autonomous cruise ship completes cruise along the optimal path. According to the invention, the convergence factor in the grey wolf optimization algorithm is improved, the global search capability and the local search capability of the grey wolf optimization algorithm are balanced, the convergence speed and the stability of the grey wolf optimization algorithm are improved, and the path planning of a plurality of target points in a dynamic unknown environment can be realized.

Description

technical field [0001] The invention belongs to the technical field of water quality sampling and path planning in lake basins, in particular to a multi-objective path planning method for an unmanned cruise ship under dynamic obstacles. Background technique [0002] Nowadays, water environmental protection issues are getting more and more attention from the state. With the development of science and technology, in the field of water quality sampling, intelligent water quality sampling cruise ships are gradually replacing manual collection, and their applications are becoming more and more extensive. [0003] However, the path planning of the intelligent water quality sampling cruise ship has always been the focus and difficulty of scholars at home and abroad. Whether the route selection is reasonable or not directly affects the operating efficiency of the cruise ship. A method that is suitable for the current environment and can quickly plan the optimal sampling path can si...

AI Technical Summary

Problems solved by technology

[0003] However, the path planning of intelligent water quality sampling cruise ships has always been the focus and difficulty of scholars at home and abroad. Whether the path selection is reasonable or not directly affects the operating efficiency of cruise ships.

However, this algorithm can only solve the problem of a single target point, and cannot use this algorithm to traverse multiple target points

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