不规则凸区域的水面舰艇最短搜潜航路自动规划

Automatic Planning of the Shortest Searching Route in Irregular Convex Region for Surface Ship

针对已有水面舰艇区域搜潜航路规划主要围绕规则矩形区域进行而没有考虑不规则区域复杂情形的现状,对不规则凸区域的水面舰艇最短搜潜航路自动规划进行了研究。推导搜潜航路总长度与转向次数的线性关系公式,并在此基础上构建最短搜潜航路的长度计算模型;挖掘最优搜潜航向与不规则凸区域边界的内在关联规律,设计最优搜潜航向求解算法;基于前面推求的转向次数最少和搜潜航向最优原理,提出一种能为不规则凸区域自动规划出总航程最短的搜潜航路实现方法。实验结果表明:该方法能为水面舰艇在不规则凸区域搜潜求取最优搜潜航向,并在此基础上自动规划得到最短搜潜航路。

Automatic planning of the shortest submarine searching route in the irregular convex area is proposed to solve the issue that the existing surface ship regional submarine searching route planning only focuses on regular rectangular areas neglecting the complexity of irregular areas.For irregular convex polygons,the linear relationship formula between the total length of the searching route and the number of turns is derived.On this basis,the calculation model of the shortest submarine searching route is constructed.Based on the internal correlation law between the optimal submarine searching route course and the boundary of irregular convex region,the algorithm for solving the optimal submarine searching route course is designed.The experimental results show that the method could effectively determine the optimal search direction within the irregular convex areas and subsequently generate,the shortest search path automatically.