Ice region navigation sea ice obstacle avoidance path generation method based on marine radar image

Abstract

The invention discloses an ice region navigation sea ice obstacle avoidance path generation method based on a marine radar image, and the method comprises the steps: recognizing a ship position, a short-term target position and a sea ice navigation impeding region through the marine radar image, and reconstructing an ice region navigation scene; and in combination with a bidirectional fast extended random tree B-RRT algorithm and a greedy algorithm, generating a relatively simple path, and providing a small-scale sea ice obstacle avoidance path generation method. Compared with the navigation route design that a sea ice model or an ice map is adopted to carry out large-scale ice area water area navigation, and weather and sea conditions of the ice area water area are changed, a small-scale sea ice obstacle avoidance path is still needed to carry out auxiliary decision support. Because the small-scale ice region navigation decision time is limited, the method provided by the invention has randomness, can quickly generate a plurality of paths in a short time, and then evaluates and selects a sea ice obstacle avoidance path with relatively low risk by means of a path risk index, thereby providing technical support for ice region navigation auxiliary decision.

Description

Technical field: [0001] The invention relates to the field of sea ice obstacle avoidance for navigation in polar ice regions, in particular to a generation method for sea ice obstacle avoidance path for ice region navigation based on navigation radar images. Background technique: [0002] In recent years, with the increasing demand for ships navigating in polar waters, path planning and sea ice obstacle avoidance have become important research topics for polar navigation. In the process of sailing in ice areas, in addition to using searchlights, telescopes and other equipment for traditional observation and obstacle avoidance, marine radar is also an important ice detection tool, which can be regarded as the pilot's second pair of eyes. In the Polar Code, it is clearly pointed out that radars equipped with enhanced ice detection capabilities should be actively used; in addition, in the "Guidelines for Compiling Polar Waters Operation Manual" published by China Classification...

AI Technical Summary

Problems solved by technology

Due to the small space range and higher requirements for algorithm calculation time, there is still a lack of a set of methods for quickly generating sea ice obstacle avoidance paths for navigation in ice areas in domestic and foreign navigation technology

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