Research On Experimental System Of Intelligent Navigation Path Planning Based On Self-Propelled Ship Model

In the actual navigation environment of ships,the navigation environment and ship maneuverability are changeable,which will cause certain interference to the ship’s intelligent navigation path planning algorithm.The specific impact mechanism is complex and difficult to describe using mathematical models.The currently proposed path planning algorithm Its effectiveness is mostly verified by simulation models,and the changes of environmental factors and ship maneuvering performance of ships in actual navigation are not fully considered,so the reliability of its algorithm needs to be further verified.In response to this problem,this paper studies the experimental system of intelligent navigation path planning based on the self-propelled ship model,which provides an experimental platform for the development and verification of intelligent navigation path planning algorithms,and promotes the application of the algorithm on real ships.(1)Build a scaled self-propelled ship model experimental platform and model the maneuvering motion of the self-propelled model.The scaled self-propelled ship model experimental platform includes three parts: ship end,shore end and ship-shore communication.The ship-side is mainly based on STM32 to develop a self-propelled model control panel for ship-side drive and information processing;the shore-side is mainly based on industrial computer software,which is used to control decisionmaking and issue motion commands;ship-shore communication is based on predetermined protocols.Pass the module to complete.On this basis,carry out the maneuverability test of the self-propelled model,including: Z-shape test,gyration test and course keeping test.The rudder angle,heading and other data are obtained through the Z-shaped test,the input-output sample set is constructed,and the least squares support vector machine method is used for parameter identification,so as to construct the second-order nonlinear response model of the self-propelled model;at the same time,through the cycle test The geometric elements of the size of the self-propelled model’s gyration circle are obtained,and the optimal proportional-integral-derivative heading control parameters of the self-propelled model under different working conditions are obtained through the course holding test.(2)For the self-propelled model,the Harris Eagle algorithm is used to design the global path planning algorithm module.First,the grid method is used to establish a static environment model.Then,based on the Harris Eagle algorithm,the global path planning method is studied,the shortcomings of the Harris Eagle algorithm are analyzed,and the strategy optimization Harris Eagle algorithm is proposed to adaptively adjust the initial escape energy,retain the individual historical optimal solution and the normal distribution of the initial position..Finally,the implementation process of the improved Harris Eagle algorithm for global path planning is given,and the superiority of the improved Harris Eagle algorithm in the design of the global path planning algorithm module is verified by MATLAB simulation.(3)For the self-propelled model,the speed obstacle method is used to design the local dynamic collision avoidance algorithm module.First,a local dynamic environment model for the encounter between two ships is established.Then,based on the speed obstacle method,the local dynamic collision avoidance method is studied,and the disadvantages of the speed obstacle method in the dynamic collision avoidance of ships are analyzed.Combined with the actual collision avoidance situation at sea,the ship domain is introduced to optimize the speed obstacle area,and the dynamic boundary is introduced to determine the avoidance.When the time is right,the International Regulations for Preventing Collisions at Sea will be introduced to restrict the course of collision avoidance.Finally,the local dynamic collision avoidance implementation process of the improved speed obstacle method is given,and the collision avoidance simulation experiment in typical encounter scenarios is carried out through MATLAB,which verifies the effectiveness of the improved speed obstacle method in the design of the local dynamic collision avoidance algorithm module.(4)Carry out the path planning experiment of the self-propelled ship model.The control accuracy of the line-of-sight method for self-propelled model path following is verified through the track tracking test.On this basis,the global path planning test of the self-propelled model is carried out,which verifies the rationality of the global path planning algorithm proposed in this paper in practical applications;the security,reliability and real-time performance of the local dynamic collision avoidance algorithm are proposed.