Research On Ship Path Planning Based On Multi-objective Optimization

Underwater vehicle is widely used in the military field,mainly used for surface detection,surface search,exploration,navigation assistance and ship tracking and other tasks.Path planning refers to the path which is planned by a certain method under certain constraints and expectations before the submarine performs its mission.It is an important link to ensure the safe navigation and successful completion of the task of underwater vehicle.As the working environment of underwater vehicle becomes more and more complex and the task execution becomes more and more difficult,the route planning of underwater vehicle gradually develops towards the direction of optimizing multiple navigation principles,and becomes the optimization problem of multiple constraints and multiple optimization subtargets.Based on the above background,this paper studies the ship path planning problem based on multi-objective optimization.Aiming at the path planning problem of underwater vehicle in complex scene,this paper proposes a path planning method of underwater vehicle based on multi-target firefly algorithm,and verifies the correctness and application range of the algorithm through simulation experiment.This paper first analyzes the problem of path planning in complex environment,and summarizes the basic principles of path planning: safety,concealment and low energy consumption and then analyzes the internal and external factors influencing the three principles of path planning.It is concluded that the underwater vehicle path planning problem is a problem that involves multiple constraints and simultaneously optimizes for multiple optimization objectives,which is referred to as multi-objective optimization problem,and the basic concept of multi-objective optimization problem is introduced in detail.The concept of Pareto optimal solution is introduced,and the modeling method of multi-objective optimization problem is expounded.Secondly,the working principle and workflow of the basic firefly algorithm are briefly introduced,and On this basis,the basic firefly algorithm is extended to multi-target firefly algorithm by redefining the brightness of firefly with the help of Pareto dominated concept,using the non-inferior solution generated in the iterative process of external file preservation algorithm and adjusting important parameters to adaptive parameters.Simulation results show that the multi-objective firefly algorithm has a good ability to optimize the general multi-objective optimization problems,and the optimization results are better than the multi-objective particle swarm optimization algorithm.Thirdly,the multi-target firefly algorithm is combined with the underwater vehicle path planning problem by establishing the environment model and the link of path coding.By determining the evaluation methods of energy consumption,safety and concealment,the multi-target firefly algorithm is applied to the three-dimensional path planning of vehicle in a large range of complex environments.Finally,a number of underwater vehicle path planning scenarios with different degrees of complexity are set up,and simulation experiments are carried out in each scene using the method proposed in this paper.The experimental results show that this method can effectively solve the problem of underwater vehicle path planning in complex environmental fields.