Study On Inland River Route Planning And Motion Control

With the development of the economy,the role played by shipping has become greater and greater.The improvement of manufacturing technology and the continuous improvement and application of artificial intelligence technology in recent years have made the development of smart ships more and more a trend.This puts forward new requirements on ship’s operability,wave resistance and route planning.China’s inland waterways have many high-quality waterways that are abundant in water throughout the year and are not frozen.Most of the navigable rivers are located in economically developed and densely populated areas,and all flow from west to east into the sea,which is extremely conducive to the implementation of river-sea transport.But at the same time,the situation of inland waterways is more complicated and changeable than the marine environment.Inland waterways are often affected by natural conditions such as narrow channels,bends,shoals,etc.,which make the situation of inland water flow complicated and form many navigable areas.So far,researches on ship route planning and ship maneuverability have mostly focused on the marine environment,and less research on the inland environment.A good route can avoid risks and improve transportation efficiency.It is of great practical significance to establish a mathematical model of motion to study the influence of water flow on ship maneuverability,which is used to guide the ship’s operation practice,and it is also conducive to improving ship safety.In this paper,the MMG ship motion model is used to build a 6-DOF ship motion simulation model.Lay the foundation for the construction of ship motion simulation platform.The hull,propeller,and rudder were studied separately when the mathematical model of ship motion simulation was established.Secondly,build a ship virtual reality visual simulation system based on the unity development engine,build an inland waterway model of the Chongqing section of the Yangtze River,and write the ship’s 6-degree-of-freedom motion simulation model into the motion simulation system in C # language to implement ship motion simulation calculation and ship motion vision bokeh simulation.Thirdly,according to the non-navable area formed by the shoals,large drop areas,vortices and other reasons in the inland waterway,the concept of "virtual obstacles" was proposed in the design of the inland waterway planning system.According to the inland waterway model,the A* algorithm is used to solve the optimal route.The reliability of the route planning system is verified by comparing the situation of the route with and without obstacles.Finally,according to the ship path tracking problem,a los controller is designed to track the ship path;a fuzzy PID controller is designed to control the ship’s course.According to the expected route generated in the previous step,the los control and fuzzy PID controller were simulated to verify their reliability.