Route Planning And Tracking For Intelligent Ships Based On Hybrid Algorithm

Recently,the intelligent ship is in fast development stage.The research and commercialization of the intelligent ship could reduce the loss of life and property caused by human error,with the largest extent.The intelligent navigation system,unmanned engine room and high-efficiency information transmission are cores of related researches.In this paper,the global route planning,collision avoidance scheme and tracking control of the intelligent navigation system are studied.Ship route planning can be divided into global planning and local planning.The purpose of global planning is to give a global planned route that is as economical as possible and keeps a certain safe distance from obstacles based on the existing geographical environment information.The purpose of local planning is to give a local planned route in accordance with rules(rule 8,13,14 and 15)in the shortest possible time when the ship encounters unknown static or dynamic obstacles during navigation.Secondly,the given global or local planned route should be suitable for ship tracking.Therefore,it is particularly important to give the guidance algorithm corresponding to the planned route.In order to realize rapid and accurate automatic route planning,based on electronic charts,this paper extracts geographic information and reconstructs it into the Delaunay map which is used for route planning.Based on that,L+ algorithm and FO L + algorithm are proposed to solve the problem of route planning.In addition,combined with stochastic theory and ship maneuvering characteristics,VK-RRT* algorithm is proposed.In order to give an efficient and safe collision avoidance scheme,a new algorithm based on VO theory is proposed.It makes collision avoidance decisions according to the international rules for preventing collisions at sea.Specifically,the ship obtains static obstacles and dynamic ship information from electronic charts and radar,and then evaluates the collision risk.At the same time,a new concept: prediction of collision risk is proposed as an auxiliary scheme of collision risk assessment to ensure when to start or end avoidance action.In order to enable the ship to give a route,the global course constraint algorithm is designed to reconstruct the planned route of the ship in the waypoint area,which improves the accuracy of path tracking and the safety of ship navigation.