Research On Mathematical Modeling And Optimization Algorithm For Shin Route Planning In Restricted Waters

At sea,the construction area is a large area where vessels have a greater risk of maritime navigation.In order to enable the ships to go through the construction waters safely,it is especially important to plan the ship's navigation routes in the construction waters.Considering the diversity of construction operations at sea,this paper divides the environmental models of construction waters into two categories,one is the discrete construction waters where the construction sites are sparsely distributed and the impact scope of each construction site is relatively small.The other category is a continuous construction area where the distribution of construction points is relatively intensive and each construction site has a large impact range and the influence scope of each construction site is intertwined.In this paper,it established two kinds of route planning mathematic models respectively.In order to find an optimal route in the discrete eonstruction water area that can avoid all construction danger areas,this paper establishes a mathematical model with the shortest total length of the route as the objective function and the non-navigable Regional and ship steering angle and other constraints for the constrained equation route planning mathematical model.On the other hand,in order to find the optimal route in the continuous construction water area,a mathematical model of nonlinear multi-objective optimization route planning is established with the shortest route length and the smallest route risk value as the objective fiunetion.When solving the mathematical model of route planning in the discrete construction water area,this paper firstly used the method of graph theory to split the freely navigable area into several convex polygons through the link lines.Then connected the midpoints of the link lines two by two to form the Maklink route network in the discrete construction waters.Based on the route network,it used two-stage optimization method to solve the problem.First,using Dijkstra algorithm to look for the initial route that can avoid all dangerous areas.Then used the ant colony algorithi to optimize the initial route.Through the optimization of ant colony algorithm,the optimal route with shorter total route length and smaller steering angle was obtained.When solving the mathematical model of continuous discrete waterway planning,this paper firstly established the navigation risk model in this water area.Then the route network that meets the requirements of navigation safety was constructed in the construction waters.Based on the obtained route networks,the total route length and risk value of each route were respectively calculated.Because of the mathematic model of the route planning in the continuous construction waters is a non-linear multi-objective programming mathematical model.In order to evaluate each route more rationally,this paper finally established a route evaluation model.Finally,according to the route evaluation model,the optimal route through the continuous construction of waters was obtained.Finally,the simulation experiment platform of the algorithm is built.Numerical simulations verify the effectiveness of our formulated model and proposed algorithm.