面向冰区船舶航线的混合规划算法

A hybrid route planning algorithm for ship routing in ice areas

针对自然环境恶劣且复杂的北极海域,本文旨在解决冰区船舶的航线规划问题。基于栅格法建立了冰区船舶的作业空间,采用改进蚁群算法规划出全局航线,将预处理后航线的各节点作为待规划的子目标,使用改进滚动窗口算法求解出最终航线。仿真结果表明:改进蚁群算法能以更快的迭代速度规划出静态环境中的全局航线,节点删除算法可剔除冗余节点,降低后续算法的计算复杂度,改进滚动窗口算法能在全局航线的基础上,有效规避环境中的动态障碍物,求解出混合环境中符合冰区船舶运动性能的最终航线。

In view of the harsh and complex natural environment in Arctic waters,this paper aims to solve the problem of ship route planning in ice areas.The working space of ships in ice areas is established based on a grid method,and the global route is planned by an improved ant colony algorithm.The nodes of the preprocessed route are regarded as subtargets to be planned,and the final route is established by an improved dynamic window approach.Simulation results indicate that the improved ant colony algorithm can plan a global route in a static environment with fast iteration speeds.The node deletion algorithm can effectively remove redundant nodes,thereby reducing the computational complexity of subsequent algorithms.The improved dynamic window approach can successfully avoid dynamic obstacles in the environment,generating a final route that aligns with the operational performance of ships in ice areas.