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Naval vessel path planning method based on firefly algorithm

A technology of firefly algorithm and path planning, which is applied in the field of ship path planning based on firefly algorithm, to achieve the effect of high execution efficiency

Active Publication Date: 2012-02-22
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

But so far, it has not been applied in the field of path planning

Method used

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  • Naval vessel path planning method based on firefly algorithm
  • Naval vessel path planning method based on firefly algorithm
  • Naval vessel path planning method based on firefly algorithm

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Embodiment Construction

[0017] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0018] The present invention is a path planning method based on the firefly algorithm, and the specific process is as follows: figure 1 shown, including the following steps:

[0019] Step 1: Determine the starting point and target point of the path according to the task information, and determine the navigation area according to the starting point and target point.

[0020] The navigation area is a rectangular area with the line connecting the start point and the end point of the path as the diagonal, and the boundary coordinates of the navigation area are X min , X max , Y min , Y max .

[0021] Step 2: Establish a new coordinate system with the starting point as the coordinate origin, and the line connecting the starting point and the target point as the abscissa.

[0022] In the original coordinate system, the position of a point is determine...

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Abstract

The invention discloses a naval vessel path planning method based on a firefly algorithm, concretely comprising the following steps of: (1), determining an initial point and a target point of a path according to task information and determining a navigation zone according to the initial point and the target point; (2), establishing a new coordinate system by adopting the initial point as the origin and adopting the connecting line of the initial point and the target point as the axis of abscissas; (3), simplifying and combining barriers in the navigation zone and generating a restricted navigation zone; (4), searching an optimal path through the firefly algorithm; (5), converting the coordinate of each path point in the optimal path into a coordinate under an O-XY system; and (6), obtaining the optimal path of a naval vessel and ending the path planning. By planning the path of the naval vessel through the adoption of a new natural heuristic algorithm, namely the firefly algorithm, as an optimization algorithm, the naval vessel path planning method based on the firefly algorithm has high executing efficiency and can plan navigation paths which meet the practical demands.

Description

technical field [0001] The invention belongs to the field of ship path planning, in particular to a firefly algorithm-based ship path planning method. Background technique [0002] With the continuous advancement of science and technology, ship navigation is gradually developing in the direction of intelligence. Especially in the field of surface unmanned ships, the intelligence of ship driving is particularly important. In the process of intelligence, path planning is undoubtedly one of the key technologies for ship intelligent navigation. Traditional planning methods include view method, topology method, grid method, etc. These methods are simple in process and easy to implement, but the path optimization effect is poor, and there is no guarantee to find the global optimal path. In recent years, with the emergence and maturity of optimization algorithms for simulating some biological systems and their behavioral characteristics, people have gradually applied these emergi...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/02
Inventor 刘厂高峰李刚赵玉新董静
Owner HARBIN ENG UNIV
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