Research On Hybrid Optimization Of Global Path Planning For Unmanned Surface Vessel

As an important carrier platform for marine scientific exploration.and research,the navigation path planning of the unmanned surface vessel(USV)is one of the important core research contents.With the development of the application of the USV,a single path planning algorithm for the USV has been unable to meet the complex and changing marine environment.More and more researches have been carried out to improve and optimize the limitations of the algorithm.At the same time,better path planning is carried out from the integration of multiple algorithms and the introduction of intelligent algorithm.Therefore,in order to solve the limitation of a single algorithm on the path selection during the navigation of the unmanned surface vessel,the thesis focuses on the hybrid optimization of multiple path planning algorithms,and adds many external factors in order to provide a more suitable navigation path for the USV.In this thesis,taking the high-speed unmanned surface vessel"Lan Xin" of Dalian Maritime University as the research object,aiming at the optimization of the global path planning of the USV,the main research contents are as follows:Firstly,the thesis analyzes the path planning algorithms applied in various fields at home and abroad as well as the corresponding improvement and optimization,focusing on the current situation of the path planning of the unmanned surface vessel.By understanding the optimization ideas of various algorithms and combining the characteristics of the algorithm itself,a hybrid optimization method of global path planning is proposed.Firstly,A*algorithm is used to preprocess the loaded sea area environmental information to improve the probability of generating initial feasible population by genetic algorithm.Three factors of safety,smoothness and economy are considered in the feasible area after preprocessing,and genetic algorithm is used for path planning.Finally,artificial potential field method is used to evaluate the planning results.Secondly,considering that the unmanned surface vessel will be affected by the navigation environment factors in the actual navigation,aiming at the influence of different navigation environment factors on the navigation of the unmanned surface vessel,this thesis proposes a global path planning algorithm considering the navigation environment factors.The algorithm constrains the factors in the navigation environment and improves the path economy in the objective function.By simulating the navigation environment,the navigation path under different navigation environment is planned.Finally,a global path planning platform is built,which can simulate the hybrid optimization method of global path planning and the global path planning considering the navigation environment factors.The simulated results verify that the algorithm proposed in this thesis can complete the navigation path design task of the USV.