顾及舰船运动约束的机动航线实时规划方法

Real Time Route Planning Method Considering Ship Motion Constraints

针对现有航线规划方法难以顾及运动约束,并实时为舰船机动规划航线的问题,提出了一种顾及舰船运动约束的机动航线实时规划方法。首先,通过航路二叉树方法预生成航路点,将二叉树中的子节点作为后续规划的转向点;然后,依据舰船的定常旋回半径及降速公式对预生成航路点进行空间重构和时间配置;最后,按舰船机动要求与舰船的运动学参数限制来构造约束条件与目标函数,通过二次规划求解得到航线。通过实验表明:论文方法能有效顾及舰船的运动学约束,实时高效地规划机动航线。

Aiming at the problem that the existing route planning is difficult to take into account the motion constraints and plan the route in real time for ship maneuvering,a route real-time planning method considering the ship motion constraints is proposed. Firstly,the route binary tree is pre generated by the route binary tree method,and the sub nodes in the binary tree are used as the turning points of subsequent planning. Then,the turning point is redistributed according to the constant cycle radius and deceleration formula of the ship. Finally,the constraint conditions and objective function of the route are constructed,and the route is obtained by quadratic programming. This method can effectively consider the kinematic constraints of ships and plan routes in real time and efficiently.