Real-time optimal ship navigation route planning method based on improved genetic algorithm

Abstract

The invention discloses a real-time optimal ship navigation route planning method based on an improved genetic algorithm. The method comprises the following steps: 1, constructing a flow field database; 2, carrying out real-time channel hydrological element calculation; 3, calculating the resistance of the airline; 4, generating an orthogonal body-fitted grid, and establishing a planning background for route planning; 5, optimizing a route set based on an improved genetic algorithm; 6, judging whether the steering angle of the course is greater than a ship allowable steering angle threshold, if so, entering 7, and otherwise, entering 8; 7, deleting the route; 8, keeping the route; 9, updating the route set; and 10, obtaining the route which meets the ship route constraint conditions and has the shortest actual navigation path and the minimum resistance. According to the optimal route planning method with minimum ship sailing resistance and shortest sailing mileage based on the improved genetic algorithm, the influence of channel water flow conditions, ship characteristics and the like on sailing can be fully considered, and a real-time optimal route meeting sailing conditions is designed.

Description

technical field [0001] The invention relates to the technical field of ship route design, in particular to a real-time optimal route planning method for ship navigation based on an improved genetic algorithm. Background technique [0002] At present, according to whether the ship can perceive the surrounding environment, the route planning methods can be divided into static (global) and dynamic (local) route planning. Static path planning is mainly to calculate and solve a non-collision route suitable for navigation according to the positioning results of its own geographical coordinates and the given target point, according to the requirements of the planning task. Research on global path planning methods has achieved some results. Commonly used research methods can be divided into graph search algorithm, meta-heuristic algorithm, heuristic algorithm, neural network algorithm, etc., specifically visual graph method, Dijkstra algorithm, ant colony algorithm, genetic algorit...

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Problems solved by technology

[0005] For example, after the Three Gorges Reservoir is impounded at 175m, due to the regulation of the reservoir, the river section in the changing backwater area at the end of the reservoir can reach the standard of Class I waterway during the 175m impoundment period, but gradually restores the natural channel attribute when the water level is low during the drawdown period, and some river sections 1. The navigation conditions in some periods are still poor, and the maintenance standards cannot be met, which affects the passage capacity of the waterway and limits the full play of the Three Gorges shipping benefits.

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