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Ship navigation path planning method

A path planning, ship technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve problems such as algorithm non-convergence, and achieve the effect of detailed environmental information

Pending Publication Date: 2022-06-10
JILIN UNIV
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  • Description
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Problems solved by technology

However, the local path planning algorithm may not be able to reach the target point sometimes, causing the algorithm to not converge globally.

Method used

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Embodiment 1

[0065] The present invention proposes an improved optimization algorithm, which can be used for the solution of a single objective function, and can also be used for path planning of ship navigation. The improved algorithm for solving a single objective function is as follows:

[0066] (1) Randomly initialize the particles, if there are particles in the memory bank, use the particles in the memory bank; if there are no particles in the memory bank, then initialize the particles randomly;

[0067] (2) Select the target, calculate the fitness of each particle, and use the inertia weight;

[0068]

[0069] (3) The promotion and inhibition of particles are calculated by the expected reproduction rate of the particles. The immune algorithm is introduced here. We design each particle as an antibody, and the individual fitness value of each particle as an antigen.

[0070] a. Affinity of antibody to antigen

[0071] Antibody-antigen affinity F w Calculation is used to indicate t...

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Abstract

The invention belongs to the technical field of ship shipping, and particularly relates to a ship navigation path planning method, which comprises the following steps of: 1, establishing a mathematical model for ship path planning under a ship route, including establishment of an environment model, establishment of a ship route model and establishment of an evaluation standard of a path planning algorithm; 2, researching the marine stall characteristic of the ship, including the influence of the marine environment on the ship speed, the establishment of a meteorological environment, the research of the stall characteristic of the meteorological environment on the ship motion, and the establishment of a calculation method of a critical speed; step 3, establishing a particle swarm algorithm, including establishment of the particle swarm algorithm, establishment of an immune algorithm, combined application of the immune-particle swarm algorithm and simulation analysis of the immune-particle swarm algorithm; and 4, simulation and result analysis of a route design algorithm are carried out, the structure is reasonable, the convergence speed of the obtained particle swarm optimization mixed with the immune algorithm is higher, and the global search performance and the solving process are the best.

Description

technical field [0001] The invention relates to the technical field of ship shipping, in particular to a ship navigation route planning method. Background technique [0002] As the world's second largest economy, China's GDP will account for 17% of the global economy in 2020. Since joining the WTO in 2001, my country's import and export trade volume has grown rapidly. The average annual compound growth rate of China's seaborne import volume has reached 12%, and the export growth rate has remained above 4%. Among them, during 2009-2020, with China's fixed asset investment and Industrial production further expanded, and about 65% of the global seaborne trade increase (28.9 billion tons) was contributed by China. In 2020, China's seaborne import trade volume has accounted for 1 / 4 of the global total. Shipping has the advantages of large volume, long distance, low cost, low carbon and environmental protection. At present, 80% of international freight transportation is by shippi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王红波孙季红周正
Owner JILIN UNIV
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