A Research On Intelligent Planning For Ship Navigation Path

Path planning is one of the core fields of intelligent ship technology research,and it is also characterized by complexity,constraint and nonlinearity.With the development of intelligence optimization algorithm,it provides a new effective way for mobile ship path planning problem.Based on ship maneuverability,this paper builds a grid environment model and adopts the bi-level path planning strategy involved of the improved A*algorithm and the improved potential grid method.Firstly,a mathematical model of ship maneuverity is established for selected ship"Taiankou".Based on the mathematical model,this paper gives the corresponding data that can represent the maneuverability through the turning simulation and provides the data support for the global path planning,according to the chart and the given simulation condition.In the research on global path planning,grid granularity is set in establishing the environment model based on the ship maneuverability,and navigation angle is limited and expanded to better reflect maneuverability of the ship.The basic idea of it is as follows.In the grid map environment model,to start with,the modified A*algorithm is used to run a length optimal path to provide suitable sub-target points.The next,by improving the potential grid method,a safe route with priority avoiding obstacles can be operated to enhance the practical application of the algorithm.The third is to adopt a bi-level path planning strategy to extract effective auxiliary sub-target points from the shorter paths planned by the improved A*algorithm through a screening mechanism.Then path planning of the improved potential field grid method is guided through sub-target points to obtain safe and economic path.Finally,the planning path is smoothed.The simulation results show that the proposed algorithm can get an optimized route that avoids the threat area and has a shorter length.The research results show that the proposed algorithm has a great improvement in the overall performance;the feasibility and effectiveness of the algorithm in solving path planning problems as well.The work of this paper provides some inspiration and reference for solving the problems of path planning,and has some theoretical significance and practical value.