Study On Route Planning Of Unmanned Boat

In the21st Century, the international situation has become more and morecomplicated. The world’s big countries have shifted the focus of state defense anddiplomacy to the ocean. With the military technology develops, the unmanned degree ofmilitary equipment is increasely high. USV which adapts to this trend has beenincreasingly more valued by the world’s major powers. This article has respectivelydesigned the global path planning algorithm and the local path planning algorithm whichis in an unknown and complex environment for USV.Firstly, this article introduces the research status and the development trend of USVat home and abroad, and analyses the path planning problems for USV, including theoverview, classification etc., and on this basis, explains the significance of this study.This article researches the USV global path planning problems, Combined with theadvantages of potential field method’s simple structure, good real-time and grid method’ssimple encoding, easy to be implemented, proposes a new global path planning method--potential field dynamic grid method. This method combined with improved potentialfield method and dynamic grid method, establishes the environmental model by griddynamic refined manner, and uses the improved potential field method graduallysearching for the optimal path, so that the path accuracy could gradually achieve theaccuracy requirements. Then by reducing the zigzags optimization processing, to furtherreduce more redundant path nodes, and eventually makes the output path optimization.The simulation experimental results prove that this method could reduce thecomputational complexity, could effectively avoid plunging into the local minimumproblem, and has strong ability of global path planning.This article researches the USV local path planning problems, and designs a localpath planning algorithm based on potential field boundary detection method. Thisalgorithm combined with improved potential field method and boundary detectionmethod, through the border walking behavior to solve the USV local path planningproblem. In the unknown and complex environment which exists the environment traps,it can effectively avoid risks, has given dynamic collision avoidance strategy for thesituation of existing dynamic obstacles, and could be used as a powerful supplement ofUSV global path planning. The simulation experimental results prove that this methodhas strong ability of local path planning, could real-time plan the safe and effective path. Finally, in the MATLAB environment, load the high-resolution electronic sea chartfiles into the M_MAP toolbox, then test the experiments based on the designed pathplanning methods, and the experimental results verify the validity and practicability ofthe designed methods.