基于动态复杂度地图的船舶航迹规划

doi:10.16182/j.issn1004731x.joss.201806049

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (6): 2390-2398.doi: 10.16182/j.issn1004731x.joss.201806049

基于动态复杂度地图的船舶航迹规划

杜哲^{1, 2}, 文元桥^{1, 2, 3}, 黄亮^{1, 2}, 周春辉^{1, 2, 3}, 肖长诗^{1, 2, 3}

1. 武汉理工大学航运学院,湖北武汉 430063;
2. 内河航运技术湖北省重点实验室,湖北武汉 430063;
3. 国家水运安全工程技术中心,湖北武汉 430063

收稿日期:2016-08-01 修回日期:2016-12-12 出版日期:2018-06-08 发布日期:2018-06-14
作者简介:杜哲(1992-),男,湖北,硕士,研究方向为路径规划,运动规划;文元桥(1974-),男,湖北,博士,教授,研究方向为水上交通系统安全与仿真。
基金资助:
国家自然科学基金(51579204, 51679180),中国博士后科学基金(2016M602382)

Route Planning for Vessel Based on Dynamic Complexity Map

Du Zhe^{1, 2}, Wen Yuanqiao^{1, 2, 3}, Huang Liang^{1, 2}, Zhou Chunhui^{1, 2, 3}, Xiao Changshi^{1, 2, 3}

1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China;
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China;
3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China

Received:2016-08-01 Revised:2016-12-12 Online:2018-06-08 Published:2018-06-14

摘要/Abstract

摘要： 针对多移动障碍物的复杂通航环境,提出了基于动态复杂度地图的航迹规划方法。通过复杂性测度理论建立了水域动态复杂度地图。利用A*算法的思想,将地图中的复杂度值作为实际代价,当前点到目标点的欧式距离作为启发式代价对原有的代价函数进行了改进。考虑到船舶船身尺度的影响,加入了航道边界的约束函数。实验结果表明,该算法生成的航迹在满足了船舶尺度约束的同时,避开了所有复杂度高的水域,并且使得本船以接近最短距离的航线航行。

关键词: 动态复杂度地图, A*算法, 多移动目标, 航迹规划

Abstract: Aiming at multiple mobile objects in complex navigation environment, a route planning method based on the dynamic complexity map is proposed. According to the theory of complexity measurement, a dynamic complexity map is established. By taking advantage of the idea of A * algorithm, the complexity value is taken as an actual cost and the Euclidean Distance from current point to the target is taken as a heuristic costs. Considering the ship dimensions, the channel boundary constraint function is added. The experimental results show that on the premises of satisfying the constraint of ship dimensions, the planned route avoids all the high complexity areas and it is close to the shortest path.

Key words: Dynamic Complexity Map, A * Algorithm, Multiple Mobile Objects, Route Planning

中图分类号:

TP391.9

杜哲, 文元桥, 黄亮, 周春辉, 肖长诗. 基于动态复杂度地图的船舶航迹规划[J]. 系统仿真学报, 2018, 30(6): 2390-2398.

Du Zhe, Wen Yuanqiao, Huang Liang, Zhou Chunhui, Xiao Changshi. Route Planning for Vessel Based on Dynamic Complexity Map[J]. Journal of System Simulation, 2018, 30(6): 2390-2398.

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基于动态复杂度地图的船舶航迹规划

Route Planning for Vessel Based on Dynamic Complexity Map

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