Research On The Algorithm Of Ship Weather Route Planning

Along with the development of domestic economy,and the growth of the military power,as the main transportation tool in the sea,the development and innovation of ship and the equipment related are getting concerned from all areas.Being benefited from the big progress of computer science and technology,the artificial intelligence,the ship industry is moving towards intelligentization and automation.Before the ship goes to sea to perform the task,the first priority is to schedule route for the ship.A safe,reliable route is the basis for the ship to perform the task perfectly.So the main research of this passage is path planning algorithms based on weather information and coastal line information.First of all,this paper briefly introduces the definition of ship route planning,and briefly describes the research work of experts and scholars at home and abroad,and analyzes the advantages and disadvantages of different algorithms.Secondly,the local route planning algorithm is a kind of problem with dynamic obstacles in the navigation area of the ship.The so-called dynamic obstacle is the location of the obstacle changing with time,such as the fish in the sea,the dangerous seas caused by bad weather,and so on.Usually the obstacles according to its state of motion can be divided into two categories,one is the motion state of the obstacle is determined,as determined by its state of motion,then the position of the obstacle in a certain time can be predicted;the other is the motion state of the obstacle,random,obstacle position change over time random change.For the first class of obstacles,this paper makes the appropriate modification of the A*algorithm to get the 3D A*algorithm.Due to the specific obstacles in the navigation area to determine the location in different time,we can choose a series of continuous moments t₁,t ₂,...t_n,the location information of navigation obstruction at these moments in the region are used to describe sailing area obstacle information,it can form a three-dimensional environmental information map,upon this map,a safe route can be formed by 3D A*algorithm?Then,the global route planning algorithm solves the problem that the obstacles in the navigation area of the ship are static obstacles.As the position of the obstacle does not change with time,the environmental information is relatively easy to describe.The traditional global route routing method includes grid method,visual graph method,ant colony algorithm and so on.In this paper,the swarm intelligence algorithm and particle swarm optimization?PSO?algorithm are introduced to the solution of global route routing.First of all,modeling and describing the navigation area of ships is different from the environment modeling method of grid method and visual graph method.The modeling method proposed in this paper is to divide the whole area equally by using bar equal line,and select route points to form a route on these equal lines.Through the analysis of the expression of route distance,vertical route distance depends on each route,the longitudinal coordinates of these waypoints constitute a vector,the vector as the particle position vector of the particle swarm algorithm,thus completing the algorithm encoding task,the particle swarm algorithm can be applied to the global path planning the solution of the problem.Finally,based on the MATLAB platform,the proposed algorithm is simulated.For the global route planning problem,we use the coastline data model provided by the global coastline data system provided by NOAA to complete the location information description of static obstacles in the navigation area,i.e.islands.For the problem of local route planning,the main consideration is the effect of the dangerous area caused by bad weather on the safety of the ship.Combined with the meteorological data provided by ECMWF,we choose the sea area with waves higher than 3.5 meters as a dangerous sea area that affects the navigation safety of ships,and complete the description of location information of dynamic obstacles.The simulation experiments are carried out on the global route planning algorithm and the local route planning algorithm,and the feasibility and effectiveness of the algorithm are tested.