Intelligent ship path planning method based on improved A* algorithm

Abstract

The invention provides an intelligent ship path planning method based on an improved A * algorithm, and the method comprises the steps: firstly building a grid map, then reducing a search direction according to an included angle theta, then judging an extension point, storing a search path, setting a current node as a father node, selecting a new node according to an improved evaluation function, determining whether an Open linked list is an empty list, and repeating the steps until an optimal path is obtained. Compared with a traditional A * algorithm, the speed of searching the path can be improved in a simple map with few obstacles; and in a complex map with many obstacles, the obstacle rate Pz is increased and relatively reduced, and at the moment, the search precision is improved. The intelligent ship path planning method based on the improved A * algorithm provided by the invention has the advantages that the flexibility and rapidity of the algorithm are ensured, and the search efficiency can be adaptively improved according to the map complexity.

Description

technical field [0001] The invention relates to the technical field of ship path planning, in particular to an intelligent ship path planning method based on the improved A* algorithm. Background technique [0002] Intelligent unmanned ship is a kind of unmanned ship, which has autonomous navigation, intelligent engine room, energy efficiency management, cargo transportation and intelligent integration platform; compared with traditional human-controlled driving mode, autonomous ship navigation has a high safety factor, economical and environmental protection , green energy saving and high degree of automation, and the core of the ship's autonomous navigation is autonomous obstacle avoidance path planning; in the ship's autonomous navigation decision-making system, its main task is to determine the ship's needs in an environment with obstacles or when the navigation environment changes. Temporarily adjust the local route according to the navigation environment, and find an a...

AI Technical Summary

Problems solved by technology

[0002] Intelligent unmanned ship is a kind of unmanned ship, which has autonomous navigation, intelligent engine room, energy efficiency management, cargo transportation and intelligent integration platform; compared with traditional human-controlled driving mode, autonomous ship navigation has a high safety factor, economical and environmental protection , green energy saving and high degree of automation, and the core of the ship's autonomous navigation is autonomous obstacle avoidance path planning; in the ship's autonomous navigation decision-making system, its main task is to determine the ship's needs in an environment with obstacles or when the navigation environment changes. Temporarily adjust the local route according to the navigation environment, and find an appropriate movement path from the starting point to the end point, so as to ensure that the ship can avoid all obstacles safely and without collision during the autonomous navigation process, and the path is the shortest or the best path, etc., after retrieval , Chinese Patent No. CN108225326A discloses an AGV path planning method based on the A* algorithm. Although the path planning speed of this inventive method is fast, the use scenarios are limited, and the search efficiency cannot be adaptively improved according to the complexity of the map, and the flexibility is relatively high. Low; smart ship is a kind of self-driving ship, which has autonomous navigation, intelligent engine room, energy efficiency management, cargo transportation and intelligent integration platform; compared with traditional human-controlled driving mode, autonomous ship navigation has high safety factor, economical and environmental protection, The advantages of green energy saving and high degree of automation, and the core of the ship's autonomous navigation is the autonomous obstacle avoidance path planning; in the ship's autonomous navigation decision system, its main task is in the environment with obstacles or when the navigation environment changes, the ship needs to The navigation environment temporarily adjusts the local route to find an appropriate movement path from the starting point to the end point, so as to ensure that the ship safely and without collision avoids all obstacles during the autonomous navigation process, and the path is the shortest or the best path; currently, intelligent Most of the ship path planning uses the A* algorithm, which is an improvement of the Dijkstra algorithm. The Dijkstra algorithm was proposed by Edes Waibe Dijkstra. This algorithm is known as "the most classic pathfinding algorithm". It is a A complete search algorithm, that is, as long as the path exists, it will be able to find a shortest path, but in complex maps and large-scale maps, the algorithm has a large amount of computation and low efficiency, and the generation of A* algorithm reduces computation The amount improves the efficiency of the algorithm, but there are still cases where the planning path effect is not good; therefore, it is particularly important to invent an intelligent ship path planning method based on the improved A* algorithm

[0003] Most of the existing intelligent ship route planning methods use the A* algorithm for route planning and navigation. Compared with the Dijkstra algorithm, although it reduces the amount of calculation and improves the efficiency of the algorithm, it cannot adaptively improve the search efficiency according to the complexity of the map. lower sex

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