The invention provides an unmanned vessel
ant colony consumption optimal global path
planning method based on an electronic nautical chart. The method comprises the steps of 1,
processing the electronic nautical chart, wherein after the electronic nautical chart is converted into the form of a file capable of being processed, a feasible area and an obstacle area of a map are determined, a
visibility graph method is utilized to find out a set of feasible paths among an
initial point, a target point and the vertex of an obstacle, it is guaranteed that the paths do not pass through an unfeasiblearea, and the sailing safety of the unmanned surface vessel is guaranteed; 2, building a motion math model, wherein the motion model of an unmanned vessel is built, and thus the thrust and motion characteristics of the unmanned vessel are grasped; 3, obtaining unmanned vessel data, wherein when the unmanned vessel sails on the water surface,
information data like the heading, the vehicle
body position and
vertical acceleration of the vehicle is obtained; 4, utilizing an
ant colony
algorithm to search for a track meeting requirements; 5, building an unmanned surface vessel
energy consumption model under
ocean current disturbance, wherein with the optimal
energy consumption being the premise, the
ant colony
algorithm is improved to obtain the path satisfying safe sailing conditions and having the smallest
energy consumption. By comparing the paths under two preconditions, the effectiveness of the designed
algorithm is proved.