Algorithm And Comparative Study Of Ship Route Path Planning In Construction Waters

With the rapid increase in the navigation density of ports and waterways,ships are showing a trend of large-scale,professional and high-speed development,and the marine traffic environment is becoming more and more complicated.At the same time,due to the increasing demand of the people and the rapid economic development of coastal cities,the development and utilization of offshore and coastal areas are becoming more and more frequent(such as cross-sea bridges,subsea tunnels,offshore drilling platforms,various hydraulic facilities,etc.)Safe passage has had a certain impact.In order to improve the safety of ships passing through the construction waters,it is particularly important to intelligently induce the ships to pass,so that the ships can safely avoid obstacles in the construction area.Path planning is an important part of the ship's intelligent guidance system.Therefore,this paper focuses on the static environment modeling and path planning of ship construction waters,and then launches the algorithm improvement work related to path planning.The research content of this article has the following three aspects:(1)After analyzing and comparing a variety of path planning methods,select Maklink environmental modeling as the main method of this'article,combined with relevant research at home and abroad,use a variety of intelligent algorithms to solve on the basis of Maklink modeling,such as ant colony algorithm,Genetic algorithms,particle swarm optimization,cuckoo algorithm,simulated amiealing algorithm and other ten heuristic intelligent algorithms,and established a number of indicators to measure the performance of the algorithm to compare them,and improved the cuckoo algorithm,and finally in Simulation experiments were carried out on the platform to verify that the improved cuckoo algorithm has better performance results.(2)In order to meet the actual needs and improve the safety of planned routes,the concepts of ship traffic and route hazards are proposed,and then a new improved genetic algorithm based on Dijkstra algorithm and considering safety is proposed based on the Maklink diagram.This method is to build an environment model in the Maklink graph and use Dijkstra's algorithm to plan a feasible path,and then use an improved genetic algorithm to optimize the path,evaluate its safety through the route hazard,and make it meet the constraints of distance and safety,and ultimately improve the safety of the route Sex.The route nodes planned by this method are not smooth enough,and are only suitable for rough planning with low accuracy requirements.(3)On the basis of previous research,the Maklink method and the artificial potential field method are combined to improve the safety of ships in construction waters.At the same time,the traditional artificial potential field method can easily solve the local minimum trap and cannot Problems such as reaching the end.The planned final path has many nodes and is smoother,but requires more calculation time,which is suitable for the global path planning problem that considers the ship's steering angle and requires high accuracy.The research work in this paper has been tested and verified on the ?? platform,which proves the effectiveness and feasibility of the algorithm,and provides theoretical research and experimental reference for the ship path planning technology in the construction waters.