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Automatic ship route planning method based on adaptive triangulation network

A technology of automatic planning and triangulation, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of inability to take into account the rigor of results, calculation efficiency, errors, etc., and achieve the effect of shortening the time used

Active Publication Date: 2021-08-20
PLA DALIAN NAVAL ACADEMY
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Problems solved by technology

[0004]In order to overcome the deficiency that the current automatic planning method of ship route cannot take into account the rigor of the result and the calculation efficiency in actual application, the present invention provides a controllable error and Efficient ship route automatic planning method

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  • Automatic ship route planning method based on adaptive triangulation network
  • Automatic ship route planning method based on adaptive triangulation network
  • Automatic ship route planning method based on adaptive triangulation network

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Embodiment Construction

[0032] The technical solutions of the present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0033] The automatic planning method of the ship route proposed by the present invention, the realization process is to use the computer to realize the efficient planning of the ship route based on the real marine geographic information data. The above method is used to carry out efficient automatic planning of routes, including the following steps, such as figure 1 Shown:

[0034] Step S1: According to the electronic chart data standard, analyze the electronic chart data required for navigation on the computer, and obtain the obstructive area data set O={o 1 ,o 2 ,o 3 ,...,o n}.

[0035] Step S2: According to the acquired electronic chart data, according to the actual navigation requirements, extract the space-filling point set P={p in the electronic chart data 1 ,p 2 ,p 3 ,...,pn}, reducing the dependence of the fr...

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Abstract

The invention provides an automatic ship route planning method based on an adaptive triangulation network, and belongs to the technical field of marine surveying and mapping. The method comprises the following steps of: reading a navigation obstructing area data set based on data fusion of a plurality of nautical charts; extracting a space filling point set in the electronic chart data; constructing a constraint triangulation network according to the space filling point set and the data boundary of the navigation obstructing area; adaptively adjusting the constraint triangulation network according to an adjustment index; on the basis of the constraint triangulation network, generating a network diagram by taking the real spherical distance as a weight; preliminarily planning a route between a starting point and an ending point by using an improved bidirectional A * algorithm based on the network diagram; smoothing and optimizing the preliminary planning result, and controlling the voyage error; and outputting all waypoints, and generating a planned route. According to the method, the defect that the current automatic ship route planning cannot give consideration to the leakproofness and the calculation efficiency is overcome, and the existing experiment shows that the method can greatly shorten the time for automatic route planning on the basis of ensuring the controllable route voyage error.

Description

technical field [0001] The invention belongs to the technical field of marine surveying and mapping, and relates to an efficient automatic planning method for ship routes. Background technique [0002] The ship's route refers to the sea navigation route of the ship from one point to another. The automatic planning of the ship's route is essentially to find a route that can avoid all obstructions under different constraints, and start from the starting point. The optimal path to the destination. As a subset of route planning problems, the route planning problem, its automatic planning method, especially the route planning method in unmanned ships (boats), has become a hot research topic among scholars at home and abroad. [0003] The existing route planning methods can be roughly divided into two categories according to their principles: (1) Route planning methods based on geometric topology models. This type of method is based on the classic Dimensionally Extended nine-Int...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 张立华戴泽源贾帅东
Owner PLA DALIAN NAVAL ACADEMY
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