Autonomous ship route planning method based on D*Lite optimization algorithm

Abstract

The invention provides an autonomous ship route planning method based on a D*Lite optimization algorithm. The method comprises the steps that S1, in the navigation process of an autonomous ship, obtaining environment information according to a preset time interval, and according to the currently obtained environment information and the environment information obtained last time, if the environmentinformation in a current target map area is changed, judging whether a target route point of the autonomous ship is changed or not; and S2, if the target path point is changed, updating the target route point, taking the current route point as a navigation starting point, determining a termination point according to the updated target route point, and planning a route for the autonomous ship to continue to sail by adopting the D*Lite algorithm according to the environmental information, the navigation starting point and the termination point in the current target map area, wherein the targetmap area is a map area influencing route planning between the current route point and the target route point. When the position of the target route point is changed in the navigation process of the autonomous ship, the route can be dynamically replanned in real time.

Description

technical field [0001] The invention relates to the technical field of route planning for autonomous ships, in particular to a route planning method for autonomous ships based on a D*Lite optimization algorithm. Background technique [0002] Autonomous ships integrate new technologies such as modern information technology and artificial intelligence. Compared with manned ships, they have significant characteristics such as safety, reliability, energy saving, environmental protection, and economical efficiency. The intelligent transformation of ships plays an important role that cannot be ignored. focus direction. In the process of ship intelligent transformation, path planning is the core content. [0003] The existing ship route planning methods commonly use A* algorithm and LPA* (Lifelong Planning A*) algorithm. The A* algorithm maintains two sets: the open set and the closed set, where the open set stores the path points to be examined, and the closed set stores the pat...

AI Technical Summary

Problems solved by technology

[0005] However, the traditional D*Lite algorithm has the following problems: (1) During the driving process of the intelligent unmanned ship, if the position of the target point changes, the path cannot be re-planned; (2) When the surrounding environment is complex, the grid path points that need to be maintained There is a lot of information, and the search time is long; (3) The path planning is too close to the obstacle, which is prone to collision and high risk; (4) The path planning is a broken line, and the ship cannot turn smoothly at the inflection point of the broken line during the actual navigation process , the maneuverability of the ship is poor; (5) the path cannot be planned when the target point is an obstacle (island or wharf), and the accuracy of path planning is poor; (6) when the path planning fails, it will directly exit the program or keep searching, and the autonomous ship cannot sail according to the path

In summary, the traditional D*Lite algorithm takes a long time to plan a path, has poor accuracy and low efficiency, and lacks the feasibility of actual navigation applications.

Images