考虑通航环境因素的智能船舶航线规划

Route planning of intelligent ships considering navigation environment factors

为提升智能船舶航线自动设计方案的合理性,考虑船舶通航环境因素的影响,提出一种考虑水深、潮高、风、浪、流的智能船舶航线规划算法。基于Delaunay三角剖分算法,提出一种环境建模方法,利用船舶航行安全水深理论在环境模型中搜索禁航区。利用切线图法建立可航网络。基于船舶力学原理对船舶干扰力进行建模,提出一种在环境干扰力影响下的可航网络权值修正方法。将提出的智能船舶航线规划算法用于对浙江舟山衢山岛北部水域的实例分析。仿真结果表明,该算法能够为不同环境下的不同尺度船舶规划出合适的航线,也能够为相同船舶给出适应不同环境的规划结果,从而证明该算法的有效性。

To improve the rationality of intelligent ship route automatic design scheme,considering the influence of ship navigation environment factors,a ship route planning algorithm considering water depth,tide height,wind,wave and current is proposed.Based on Delaunay triangulation algorithm,a method of environment modeling is proposed,and the theory of safe water depth of ship navigation is used to search the restricted area in the environment model.The tangent graph method is used to establish the navigable network.Based on the principle of ship mechanics,the ship interference force is modeled,and a method of the weight correction of navigable network under the environmental interference force is proposed.The intelligent ship route planning algorithm is applied to the northern waters of Qushan Island of Zhoushan in Zhejiang province for example analysis.The simulation results show that the algorithm can provide suitable routes for ships with different sizes in different environments,and give planning results suitable for different environments for the same ship,which proves the effectiveness of the proposed algorithm.