Research On Path Planning Algorithm For Unmanned Ship

With the rise of unmanned equipment,research and application of the unmanned ship has gradually been people's attention.Path planning is one of the key technologies to ensure the safe navigation of unmanned ships.This paper studies the path planning of unmanned ships.The basic principle of navigation obstacle avoidance system is analyzed,and the role of path planning in the navigation obstacle avoidance system of unmanned ship is determined.In view of the characteristics of the unmanned ship's working area with irregular boundaries and obstacles,several commonly used methods for establishing environmental models are introduced.The path pla nning method of unmanned ship based on ant colony algorithm is mainly designed and implemented.For the grid-ant colony algorithm,the target heuristic function is added to improve its search efficiency.Combined with the characteristics of dynamic path planning,the method of preserving historical pheromone is adopted,which can be applied to dynamic path planning.A disperse ant colony algorithm is proposed,which is a global path planning algorithm.The basic idea is to discretize the direction into M selectable directions for ant to select during the search process.The ant can communicate with each other by the pheromone on the path point in the historical record,and produce the positive feedback effect,so the algorithm converges to a good path.The causes of the inefficiency of the algorithm are also analyzed,and the corresponding solutions are proposed.Both algorithms are implemented in C ++,and algorithm simulation software is written based on Lab View 2012 platform.The simulation results show that the two algorithms are correct in different environments.And the characteristics of the two algorithms are summarized according to the simulation results.