海上风电场区船舶A~*避碰寻路算法

A~* Algorithm for Ships Avoiding Offshore Wind Farm Facility

针对国内风电场距离航道较近、船舶在其附近航行时容易发生碰撞事故的问题,研究基于A~*改进算法的海上风电场水域船舶避碰寻路算法。基于改进的人工势场模型,按照船舶避碰要求建立风机威胁势场和他船威胁势场;将风电场区地图栅格化,计算各小方格处总的威胁值,构建威胁地图;以各栅格的威胁值作为船舶航行代价,利用A~*算法找出从当前点到目标点的移动航线;针对采用普通A~*算法生成的航线中拐点多、方向受限的问题,提取各拐点进行通视性检验并删除冗余点,最终得到符合船舶在风电场区航行要求的安全航线。仿真试验结果表明:采用该方法得到的规划航线能在与风机障碍物保持安全距离的同时,具有最短长度。

Quite a few wind farms are close to a navigational channel,so there are high risks of collision in those areas. A collision avoidance algorithm for ships based on the software A~＊is developed. The threat potential fields of wind turbines and ships around are established according to ship collision avoidance requirements. The threat map is constructed through rasterizing the map of wind farm area and calculating the total threat value in every grid. With the threat as the navigation cost,A~＊search algorithm is used to find the safe route. The final route is decided after removing unnecessary turning points which A~＊may suggest. Simulation results show that the above method gives the shortest safe path.