Method, medium and equipment for optimizing trajectory of data acquisition unmanned ship in marine environment

Abstract

The invention discloses a trajectory optimization method, medium and equipment for a data acquisition unmanned ship in an offshore environment, and relates to the field of path planning of unmanned ships, the trajectory optimization method for the data acquisition unmanned ship in the offshore environment mainly comprises the following steps: constructing a multi-obstacle multi-monitoring-end offshore complex environment model, and further obtaining a to-be-solved problem model and constraints; solving by utilizing the potential function and the conditional risk value to obtain a navigation angle; firstly, a navigation angle is obtained by solving a to-be-solved problem model with constraints, and then a deep learning method is utilized to obtain each action speed and an optimal track. According to the method, the medium and the equipment for optimizing the trajectory of the data acquisition unmanned ship in the marine environment, the optimal unmanned ship trajectory of the comprehensive problem of optimal energy consumption, system time delay and satellite use cost can be obtained.

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