Path Planning Of Survey Vessels Navigating To The Survey Lines

Strengthening the development,utilization and safety of the ocean is related to the security and long-term development of the country.At the same time,all marine activities are inseparable from the support of marine surveying and mapping.In recent years,domestic and foreign scholars have been working on the research of ship-borne navigation measurement mode to improve the accuracy of ocean measurement.What’s more,the mode of ship-borne navigation measurement will also reduce the investment in artificial sites.In this paper,with the background of actual marine environment the detailed design of the path design of the marine survey ship to the measuring line is carried out.The main work in this paper is as follows:(1)The common path planning algorithms are summarized,which provides a reliable reference for the design of new algorithm in this paper.The new algorithm will be more suitable for the marine environment and the direction of survey ships.(2)Factors affecting the marine survey vessels driving to the survey lines are analyzed.Specifically,the driving characteristics of the ship,the yaw phenomenon and the layout characteristics of the mar ine surveying line which are the main factors affecting the ship’s navigation to the line are analyzed in detail.The ability of algorithms to solve common path optimization problems is compared by a simulation experiment.All of these provide preconditions for the planning of the survey ships driving to the measurement lines,so that the mathematical modeling can be carried out efficiently.What’s more,a preliminary analysis of the route planning for survey ships driving to the survey lines could be obtained.(3)The common intelligent algorithms in path planning are studied and compared.The principle of genetic algorithm and ant colony algorithm are analyzed.And basic mathematical models of two intelligent algorithms are established to traveling salesman problem.At the same time,a simulation is prepared to compare the ability among two algorithms for route planning.And it determines the advantages of ant colony algorithm in the course design.Moreover,it provides a theoretical reference for using genetic algorithm to improve ant colony algorithm.(4)An improved ant colony algorithm is established.Firstly,parameters in ant colony algorithm are analyzed in simulation experiment.Then an optimal combination of these parameters is obtained for the experimental environment.In order to shorten the path and the number of turning points of the routes which are searched by ant colony algorithm,the heuristic function is modified;the initial pheromone and the strategy of updating pheromone are changed.Specifically,the real chart environment is modeled and the performing simulation of the improved ant colony algorithm is analyzed in this paper.So the path planning algorithm for the first stage of survey ships driving to measurement lines is obtained.(5)The path planning algorithm of the surveying ship in the surveying area is studied.The coordinate system is reconstructed with the position of the measuring line,and different routes are designed according to the position and heading angle of the survey ship in the new coordinate system.The path planning algorithm of the second stage of the measuring ship’s heading line is obtained.Finally,the simulation of the survey ship at different positions and heading angles is carried out to verify the algorithm.