Research On Ship Local Path Planning Based On Improved Genetic Algorithm

With the continuous advancement of science and technology,the shipping industry is developing in the direction of intelligence.Ship route planning is an important research direction for intelligent navigation.More and more researchers are engaged in this field.The randomness,strong constraint,and high environmental requirements of path planning make it difficult to implement,but the excellent practical value and convenience are highly favored by crews.As a knowledge system,ship path planning involves many disciplines such as information collection,ship dynamics,artificial intelligence,and information exchange..With the indepth research of ship path planning by domestic and foreign researchers,the development of related disciplines has greatly promoted Transportation is of great significance.This paper summarizes the research methods and progress of ship path planning at home and abroad,discusses local path planning based on ship motion parameters,uses improved genetic algorithms to establish path models under different encounter situations,and verifies their rationality.The main content of the paper is as follows:(1)Elaborate the ship collision avoidance process in detail,combine with the "Collision Avoidance Rules" to quantitatively divide the ship's encounter situation,calculate the relative motion parameters of the two ships in the encounter and the motion parameters after turning,calculate DCPA and TCP A,and introduce the ship's safety encounter distance.Using the comprehensive fuzzy evaluation method,a ship collision risk model based on DCPA,TCP A,D,B,K,? is established,and the rationality of the analysis result is established.(2)Design the local path planning based on genetic algorithm,improve the algorithm cross probability and mutation probability,take the shortest path,the best path smoothness,the smallest deviation from the original route,and the minimum collision risk as the optimization goals.Take the path safety,whether to abide by the "Collision Avoidance Rules" and the appropriate timing of collision avoidance are the constraints,and the ship's steering amplitude is used as the only variable to establish the local path model of the ship.(3)Simulate the path model through the Matlab platform to design paths under different encounter situations,including encounter situations,cross-meeting situations,overtaking situations,and multi-ship encounter situations with fixed obstacles.The requirements of "early","large","wide" and "clear" in the "Collision Avoidance Rules",and to ensure economical and smoothness,show that the path designed in this article has certain feasibility.