复杂海面环境下船舶航行最优路径规划数学模型

Mathematical model of optimal path planning for ship navigation in complex sea environment

以保障船舶安全航行为基础,以提升船舶续航能力为目的,研究复杂海面环境下船舶航行最优路径规划数学模型。利用概率路图法将船舶航行的、具有复杂海面环境特征的全局海域环境转换成离散空间,采用连接采样点获取离散空间若干条由初始点至目的点的路径,生成路线图。依照某船舶航行性能评价指标,构建航行路线图中的最优路径规划数学模型,考虑复杂海面环境设定地形与威胁约束、船舶转弯角度约束以及路径平滑度约束等。采用基于震荡型入侵野草优化算法求解数学模型,在所构建的路线图内获取一个符合标准的解向量,即最优路径规划结果。实验结果显示,该模型能够有效获取最优路径规划结果,以能耗最低为船舶航行性能评价指标时更利于船舶续航。

In order to ensure the safe navigation of ships and improve the endurance of ships, the mathematical model of optimal path planning of ships in complex sea environment is studied. The probability road map method is used to convert the global sea environment with complex sea surface environment characteristics of the ship navigation into discrete space,and several paths from the initial point to the destination point in the discrete space are obtained by connecting the sampling points to generate the road map. According to the navigation performance evaluation index of a ship, the mathematical model of optimal path planning in the navigation route map of a ship is constructed. The terrain and threat constraints, ship turning angle constraints, and path smoothness constraints set in the complex sea environment are considered. The mathematical model is solved by using the optimization algorithm based on concussion invasive weeds, and a standard solution vector is obtained in the constructed road map, that is, the optimal path planning result. The experimental results show that the model can effectively obtain the optimal path planning results, and it is more conducive to ship endurance when taking the lowest energy consumption as the evaluation index of ship navigation performance.