Research And Simulation Of Ship Route Planning Algorithm Based On The Coastline Model

Ship as the main transportation of sea, is gradually to the development of high speed and intelligence, where route planning is one of the most basic and key problems in the study of ship’s safety sailing. Route planning, which presents obstructions(including the bad weather) in the marine environment, which refers to find out a shortest collision-free navigation route from known start point to the end point on the basis of the available information.In this paper, we keep up with the development trend of route planning, which from the perspective of guaranteeing the safety of navigation, shortening sail distance, energy conservation and emissions reduction, etc. In order to obtain the shortest route, we design a kind of economic applicable route planning algorithm which combines with the new intelligent algorithms.Firstly, as the basis of route planning, this article introduces the basic theories and methods of route planning, which focuses on the classical algorithm both in global route planning and meteorological navigation algorithm, and analyzes the advantages and disadvantages of each algorithm.Secondly, the global route planning algorithm is a kind of static planning algorithm, which is under the condition of known starting point and end point location, planning a shortest route without collision on the basis of a priori knowledge of the marine environment.The global route planning algorithms of this paper, which first by establishing a safety area to reduce the search range, improve the execution efficiency of algorithms, and then by establishing obstacle navigation minimum convex surrounding as an environment basis to find safe routes required, and then by applying the Dijkstra algorithm to calculate the shortest safe route, which points of tangency among obstacle navigation minimum convex surrounding as navigable points, and route distance between the tangent point as the weight value. On the basis of safe routes, we innovatively use discrete arc method to calculate the shortest route. The simulation experiments prove that the algorithm can quickly find the safe route and the shortest route.Thirdly, the weather routing is the core of the real-time navigation when ship sailing in the maritime, it’s mainly based on weather data to establish meteorological models, and according to real-time sensors transporting marine information combined with the weather routing algorithm to finish dynamic route planning. This paper uses a rolling window optimization algorithm implementing weather routing. Since rolling window optimization algorithm only refers to the current moment of environmental information, but for the past and future environmental information without any prior knowledge, therefore, in the simulation experiments appear as a result of planning routes into local oscillation can’t complete weather routing problem. In order to solve this problem, this paper’s idea is that due to consideration of historical information, offered to local sub-goal instead of local optimal sub-objective way to achieve global best. Although we use conventional rolling window optimization algorithm can complete global weather routing, sometimes the route is not a global minimum. In order to solve this problem, this paper puts forward a kind of innovation, which based on the vector method of multistep rolling window optimization algorithm. When using vector method determines the vessels in a potential turning point, we consider not only the historical information, but also introducing the appropriate forecast of the future, eventually get local sub-goals to ensure global shortest path.Fourthly, the environment model is established to verify the correctness of the route planning algorithm. In this paper, the environmental model mainly includes two parts, the model of the global environment based on the coastline data as well as including the meteorological data of weather model. In the global environment model, according to 241 of the coastline data information, established the model of the marine environment, and introduced the modeling of the Mercator projection used coordinate system and WGS- 84 coordinate system, and its transformation method. In climate models, using eight neighborhood contour extraction for the meteorological data of threshold value that is greater than the danger areas in part extracted from the outline of climate models.Finally, research and design of ship route planning system based on the coastline model. From the perspective of improving the efficiency of the simulation experiments in this paper, based on MATLAB GUI in visualization simulation platform design, design a kind of single machine of non real-time route planning simulation system of the ship. The system is mainly composed of global coastline static model, dynamic weather model, global route planning and weather routing, etc. The simulation system is of friendly interface, and the advantages of simple operation, can provide simulation test the effect of visual display information, help rapidly analysis the performance of the algorithm.