Research On Path Planning Of Unmanned Ship B Ased On Improved Rapid Expansion Random Tree Method

Unmanned ships are important scientific and technological products in the marine field,and path planning has become the primary factor in judging the navigation performance and energy consumption of unmanned ships.As the core way of path planning implementation,the path planning algorithm has great research value.Typically,path planning is divided into two areas:global path planning and local path planning.Global path planning refers to finding a feasible path from the start to the end point with known environmental information.Local path planning considers other obstacles that may appear,and combined with the results of global path planning,plans feasible paths that can avoid dynamic obstacles.Because these two aspects are very important in the study of unmanned ship path planning,they complement each other to better complete the needs of actual path planning.Therefore,the main research content of this paper is divided into the following aspects:(1)The path planning of unmanned ships was qualitatively analyzed.This paper summarizes the research status of unmanned ships and their path planning algorithms at home and abroad,introduces the common global and local path planning algorithms of unmanned ships,and summarizes their advantages and disadvantages.Through the research and induction of these algorithms,the rapid expansion random tree algorithm and artificial potential field method are finally selected as the research basis of this paper.(2)The global path planning of unmanned ships is studied.Aiming at the problems of blindness in expansion and low search efficiency of the traditional fast-expanding random tree algorithm,a path planning method for unmanned ships using artificial potential field method to integrate the rapid expansion random tree algorithm is proposed,and the characteristics of path exploration can be carried out in any direction by using the rapid expanding random tree algorithm,and the sampling frequency is improved and fused with the new potential field function of the artificial potential field method,so that the unmanned ship can move to the target area and have the ability to stay away from obstacles.After that,the relevant concepts and functions of electronic nautical charts are introduced,the nautical charts are modeled by binary method,and simulation experiments are carried out in simple and complex random environments and sea area environments,and the simulation results show that the improved algorithm shows certain advantages compared with the original algorithm.(3)Research on local collision avoidance of unmanned ships.Firstly,the collision avoidance rules and basic encounters of unmanned ships are introduced,and then the collision risk of unmanned ships is evaluated,and the motion parameters of unmanned ships and obstacle ships are analyzed to determine whether obstacle avoidance is required and the scheme required in case of obstacle avoidance.Finally,combined with the collision avoidance rules,the simulation calculation of the three encounters of encounter,chasing and crossing is carried out,and the results show that the unmanned ships can make correct judgments and successfully complete obstacle avoidance.