Multi-ship path planning algorithm for maritime pursuit or rescue

Abstract

The invention relates to path planning, in particular, a multi-ship path planning algorithm for marine pursuit or rescue. The algorithm comprises 15 steps, such as avoidance object indexing, planeablearea division, planeable area gridding, point and polygon algorithm execution, path planning grid generation, thread pool creation, GPS mapping-based grid coordinate generation, A* path planning algorithm execution. Compared with the prior art, the method solves the problems of unsmooth paths in the path planning of a moving target, the blockage of a main thread in a path planning calculation process, and the fully utilization of a modern multi-core processor by multi-ship simultaneous path planning.

Description

technical field [0001] The invention relates to path planning, in particular to a multi-vessel path planning algorithm for pursuit or rescue at sea. Background technique [0002] Maritime pursuit or rescue refers to the capture, search, and rescue work done by the state or department for maritime cases or accidents. Compared with land search and rescue, it is more unpredictable, so it is more difficult. Strong technical support is required. How to make the fastest and most correct path planning in the first time is the key to completing pursuit or rescue at sea. [0003] At present, there are mainly two algorithms for pursuit or rescue at sea: [0004] 1. Linear programming method: Calculate according to the time period, calculate the distance between the ship and the target after a certain period of time, select the two time periods with the shortest distance, and use the dichotomy method for fitting. But there are also the following problems: [0005] (1) Failure to de...

AI Technical Summary

Problems solved by technology

[0005] (1) Failure to deal with the situation of being unable to catch up;

[0006] (2) Unable to avoid obstacles, such as land, islands, shoals, dangerous sea areas, etc.;

[0007] (3) The path planning algorithm is single-threaded calculation, which will block the execution of the main thread during calculation, and the simultaneous path planning of multiple ships can only be executed sequentially

[0009] (1) The position of the ship and the target is fixed, and the movement of the target cannot be simulated;

[0010] (2) When path planning generates oblique lines, it will produce a jagged and not smooth path;

[0011] (3) The path planning algorithm is single-threaded calculation, which will block the execution of the main thread during calculation, and the simultaneous path planning of multiple ships can only be executed sequentially

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