Numeralization optimization method for automatic planning of air route in limited water area

Abstract

The invention relates to the technical field of intelligent control, in particular to a numerical optimization method for automatic planning of an air route in a limited water area, which comprises the following steps of: establishing a navigable probability model of a navigation area; and combining the navigable probability model with an RRT-Connect algorithm to generate an initial route. And establishing a GAC improved model for air route optimization, and performing smooth optimization on the initial air route to obtain a smooth and optimized air route. Turning point secondary screening is carried out on the smooth optimized route, and an optimized route suitable for navigation is generated. The method has good applicability, a navigable probability model can be established according to different navigation requirements, so that the problem that current navigation area environment modeling is not accurate is solved, multi-target optimization of the route length, the route smoothness, the navigation trafficability, the navigation safety and the like of the route is achieved through the GAC improved model oriented to route optimization, and the method has the advantages of being high in practicability and the like. And the ship maneuverability of the air route is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a numerical optimization method for automatic planning of routes in restricted waters. Background technique [0002] At present, all countries in the world are paying more and more attention to marine resources, and building a strong marine country in line with the world's development trend is a major strategic goal of the country and the nation. Unmanned ship-related technologies provide an effective means for human beings to explore and study the ocean on a large scale, and have a very wide range of applications as a new type of intelligent equipment. As one of the key technologies to promote the development of unmanned ships, the level of path planning can reflect the intelligence of unmanned ships to a certain extent. [0003] Before that, most of the path planning algorithms of unmanned ships performed path search and path optimization on the basis of simplifyin...

AI Technical Summary

Problems solved by technology

In the path optimization process, the path length and path smoothness are often used as constraints, and the consideration of navigation safety is lacking, so the planned path is not very practical.

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