Ship collision avoidance path planning method based on elite multi-population evolution algorithm

A path planning and ship technology, which is applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problem of weak online planning ability and ship situation, so as to improve planning efficiency and The effect of online planning ability, improving planning efficiency and reducing planning time

Pending Publication Date: 2021-11-26
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

[0004] Facing the complex maritime traffic environment, the current path planning method has the problem of weak online planning ability and cannot be applied to complex ship encounter situations

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  • Ship collision avoidance path planning method based on elite multi-population evolution algorithm
  • Ship collision avoidance path planning method based on elite multi-population evolution algorithm
  • Ship collision avoidance path planning method based on elite multi-population evolution algorithm

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Embodiment Construction

[0073] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0074] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention provides a ship collision avoidance path planning method based on an elite multi-population evolution algorithm. The method comprises the following steps: acquiring ship information by utilizing ship navigation aid equipment; judging the collision danger of the ship and the target ship, determining the ship meeting situation of the ship and the target ship is determined, and determining the ship avoidance responsibility and the avoidance behavior; designing a ship collision avoidance movement process during meeting, and constructing a ship collision avoidance path; solving a ship collision avoidance path by using an elite multi-population evolution algorithm; and outputting the current optimal ship collision avoidance path. According to the ship collision avoidance path planning method based on the elite multi-population evolution algorithm, the collision danger and the meeting situation are judged according to the obtained ship information, the ship collision avoidance path is constructed, the ship collision avoidance path is solved through the elite multi-population evolution algorithm, the planning efficiency of the ship collision avoidance path is improved, the planning time is shortened, the online planning capability is enhanced, and the method is more suitable for the current complex maritime traffic environment.

Description

technical field [0001] The invention relates to the technical field of ship autonomous navigation, in particular to a ship collision avoidance path planning method based on elite multi-population evolutionary algorithm. Background technique [0002] In recent years, in order to reduce the occurrence of ship collision accidents, various ship navigation aids have been installed on ships, including Global Position System (Global Position System, GPS), Electronic Chart Display and Information System (Electronic Chart Display and Information System, ECDIS ), Automatic Identification System (AutomationIdentification System, AIS), ship radar. In order to provide ship drivers with more quantitative decision support for ship collision avoidance, researchers proposed a ship collision avoidance path planning method. [0003] Masanori Ito et al. proposed a ship collision avoidance control method based on a genetic algorithm (Genetic Algorithm, GA), constructing a ship collision avoidan...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 左毅李义亮北荣辅张香惠李铁山
Owner DALIAN MARITIME UNIVERSITY
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