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Unmanned ship path optimization method and system based on multi-objective optimization

A technology of multi-objective optimization and path optimization, applied in the field of path optimization of unmanned ships based on multi-objective optimization, can solve the problem that the perception of the surrounding navigation environment cannot meet the requirements of real-time and accuracy of autonomous navigation.

Pending Publication Date: 2022-03-01
NO 719 RES INST CHINA SHIPBUILDING IND
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Problems solved by technology

[0004] Embodiments of the present invention provide a method and system for unmanned ship path optimization based on multi-objective optimization to solve the problem that the existing unmanned ship's perception of the surrounding navigation environment cannot satisfy the real-time and accurate autonomous navigation during complex sea conditions and high-speed navigation. The question of sexual demands

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Embodiment Construction

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0049] The term "and / or" in the embodiment of the present application is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and / or B, which can mean: A exists alone, and A and B exist at the same time , there are three cases of B alone.

[0050] The terms "first" and "...

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Abstract

The embodiment of the invention provides an unmanned ship path optimization method and system based on multi-objective optimization, and the method comprises the steps: taking each path point in a current planning path of an unmanned ship as a basis, considering the multi-point constraint, obstacle avoidance and other natural condition constraints, carrying out the path point division again, comprehensively considering the path length, path smoothness and path safety, and improving the path optimization efficiency. And multi-objective optimization of path length, path smoothness and path safety is realized, so that a global path conforming to the actual navigation of the unmanned ship is planned.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned ships, in particular to a method and system for unmanned ship path optimization based on multi-objective optimization. Background technique [0002] As an important measure of the national economic strategy, the research and application of unmanned ships has promoted the development of marine economy, which is conducive to reducing the cost of marine transportation and labor costs. It can be applied to various engineering minerals, fishery transportation, ship and island resource supply, and marine Surveying and hydrological monitoring. As marine resources are more and more valued by the state, offshore exploration and transportation activities continue to be frequent, and technology continues to develop and progress, intelligent, systematic and unmanned ship systems have become a new development direction. In recent years, through the combination of ships and advanced ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 罗南杭杜伟丁玮颜子杰胡芳禹
Owner NO 719 RES INST CHINA SHIPBUILDING IND
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