CN109489672A - Consider the energy saving A star paths planning method of ocean current and unmanned boat kinetic effect - Google Patents
Consider the energy saving A star paths planning method of ocean current and unmanned boat kinetic effect Download PDFInfo
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Abstract
The invention proposes the energy saving A star paths planning method for considering ocean current and unmanned boat kinetic effect, step includes: that (1) obtains global nautical chart information and gridding；(2) the beginning and end location information of unmanned boat is obtained；(3) current location is set as start position, creates OPEN and CLOSD table；(4) unmanned boat speed of a ship or plane heap under the influence of ocean current is calculated；(5) current location is stored in OPEN table；(6) successively judge whether current location unmanned boat can be to eight direction running etc. around.The present invention is on the basis of traditional A star path planning algorithm, in conjunction with the unmanned boat kinetic model under the influence of ocean current, design considers the energy consumption heuristic function E_heurstic that ocean current influences, and by adjusting the weight of the function, it realizes the dynamic regulation to algorithm energy-saving efficiency, works long hours across the sea for unmanned boat and technical support is provided.
Description
Technical field
The present invention relates to unmanned surface vehicle global path planning fields, and in particular to considers ocean current and unmanned boat dynamics shadow
Loud energy saving A star paths planning method.
Background technique
21 century, people increasingly focus on the exploration to ocean, and unmanned boat is as a kind of marine intelligent Unmanned Systems, nothing
It is all widely used by civilian or military affairs.With the rapid development of science and technology, unmanned boat technology is not yet
Disconnected progress, however more powerful function also corresponds to the energy consumption of more great number, how the limited energy the case where
The afloat cruising ability of lower raising unmanned boat and working time, increasingly becomed people's focal issue of interest it
One.
In document " underwater robot fast path project study under marine environment ", Wang Lei et al. is using energy conservation as global path
The main target of planning, the movement characteristic for analyzing underwater robot when being influenced by ocean current, proposes and comprehensively considers path length
It is most short that distance is carried out respectively for the tangent line figure environmental model of Intelligent Underwater Robot with the programme of two kinds of factors of ocean current
Global path planning and the least global path planning of consuming energy, and verified in analogue system.But this method is
It realizes quickly planning, is not bound with kinetic model of plan objects under the influence of ocean current, it is difficult to guarantee that gained path is saved
The accuracy of energy；And the path planning based on tangent line figure also not can guarantee as a result maximum energy-saving path, and unmanned boat exists
The ocean current of water surface operation, sea is more many by force than the ocean current at deep-sea, needs to carry out economized path more comprehensive search with true
Protect optimum energy-saving effect, institute not can be used directly in this way yet in unmanned boat economized path plan.
Publication date on March 9th, 2016, publication number CN103744428B, entitled " one kind is based on neighborhood intelligent water drop
The patent application of the unmanned surface vehicle paths planning method of algorithm " easily falls into part most for existing for primary mental ability water droplet method
Excellent solution leads to that method is stagnated and the slower problem of convergence rate is improved, and obtains neighborhood intelligent water drop method, can be to avoid
Method, which falls into local optimum, leads to precocity, improves the convergence rate of method optimizing.But this method is not asked in energy saving
It is improved in topic, the path planned can not save the energy for unmanned boat, therefore be unsatisfactory for the target of economized path planning.
Publication date on November 24th, 2017, publication number CN107389076A, entitled " one kind is suitable for intelligent network and joins
It is theoretical that the patent application of the real-time dynamic path planning method of energy conservation of automobile " may search for the whole process in three-dimensional space-time network
The shortest trip route of transit time, can be significantly reduced vehicle driving energy consumption, reach the target of energy conservation trip.But automobile with
Unmanned boat kinetic characteristic and working environment all differ widely, and this method does not account for influence of the environment to plan objects, therefore
The economized path that equally can not be applied to unmanned boat is planned.
The present invention using save unmanned boat as much as possible self energy, realization maximum endurance as final goal, passing through
On the basis of allusion quotation A star algorithm, influence of the ocean current to unmanned boat motion profile is considered, in conjunction with the unmanned boat dynamics under action of ocean current
Model is designed unmanned boat energy consumption heuristic function, and is moved by the adjustment realization to its weight to planning path energy-saving efficiency
State is adjusted, and the unmanned boat economized path planning tasks under the influence of completion ocean current simultaneously achieve good effect by l-G simulation test.
Summary of the invention
It is an object of the invention to propose the energy saving A star paths planning method of consideration ocean current and unmanned boat kinetic effect.
Based on A star algorithm, based on the unmanned boat kinetic model under action of ocean current, designs and consider that the unmanned boat energy consumption of ocean current opens
Send a letter several E_heurstic, and can carry out dynamic regulation to the energy-saving efficiency of the energy conservation plan algorithm, has effectively saved nothing
People's ship self energy, substantially increases the cruising ability of unmanned boat.
The method specifically includes following steps:
(1) global nautical chart information and global Ocean current information are obtained, gridding resolution ratio n is set and by sea chart and current chart net
It formats, forms the grid sea chart and grid current chart of n*n；
(2) the obstacle value in grid sea chart is set as infinitely great Inf, other are set as 1, contain in grid current chart each
The flow velocity U of ocean current in unit gridscurrent(x, y) and flow to Dcurrent(x,y)；
(3) start position (x of unmanned boat is obtainedstart,ystart) and final position (xgoal,ygoal) information, and enable nobody
Ship current location (xusv, yusv) it is equal to (xstart,ystart), create OPEN table and CLOSED table；
(4) U_stack_usv successively represents on n*n map each unit grids unmanned boat in sea from lowest level to top layer
The unmanned boat speed for needing engine to provide when under stream effect to eight direction runnings of E, W, S, N, SE, SW, NW and NE；It calculates
Unmanned boat speed heap U_stack_usv under action of ocean current；
(5) by (xusv, yusv) deposit OPEN table；
(6) judge unmanned boat current location (xusv,yusv) around i-th of inspecting position (xi,yi) it whether is Inf, it is then
(7) are gone to step, (8) are otherwise gone to step；
(7) judge whether i is equal to 8, be, go to step (18), otherwise enable i=i+1 and return step (6)；
(8) according to (xusv, yusv) and (xi,yi) relative position calculate the driving direction f_c and distance d_c of unmanned boat；
(9) according to f_c and (xusv, yusv) select unmanned boat speed U_c corresponding in U_stack_usv；
(10) according to U_c, UgroundAnd d_c, using the unmanned boat kinetic model under action of ocean current calculate unmanned boat from
(xusv, yusv) arrive (xi,yi) consumed by energy e_cost (i)；
(11) sofar_cost=e_cost (i)+sofar_cost, sofar_cost is enabled to be used to save with starting point (xstart,
ystart) arrive (xi,yi) needed for energy, initial value 0；
(12) heuristic function E_heurstic is called, is estimated from (xi,yi) arrive (xgoal,ygoal) need the energy e_ that consumes
heurstic(i)；
(13) judge (xi,yi) whether be not only not belonging to CLOSED table but also be not belonging to OPEN table, it is then by (xi,yi) be added
OPEN table, even OPEN (xi,yi) (1) be equal to sofar_cost, OPEN (xi,yi) (2) be equal to e_heurstic (i) and turn step
Suddenly (17) otherwise go to step (14)；
(14) judge (xi,yi) OPEN table whether is already belonged to, it is to go to step (15), otherwise goes to step (16)；
(15) judge whether sofar_cost is less than OPEN (xi,yi) (1), it is then with (xi,yi) update OPEN (xi,yi) in
Corresponding value goes to step (17)；
(16) judge whether sofar_cost is less than CLOSED (xi,yi), it is to enable CLOSED (xi,yi) it is equal to sofar_
Cost goes to step (17)；
(17) e_function (i)=α costchart (x is calculatedi,yi)+β e_heurstic (i), wherein α, β divide
Do not represent the weight parameter of cost value and inspiration value, when α > > β, amount of energy saving is higher but planning speed is lower；Otherwise planning speed is got over
Fast but amount of energy saving is lower, goes to step (7)；
(18) by unmanned boat current location (xusv, yusv) deleted from OPEN table, CLOSED table is added；
(19) (x corresponding to the minimum value in { e_function } is takeni,yi), enable (xusv, yusv) it is equal to (xi,yi)；
(20) judge (xusv, yusv) whether it is equal to (xgoal,ygoal), it is to arrive at terminal planning to terminate, otherwise return step
(5)；
The step (4) specifically includes:
(4-1) is by the current speed U in n*n gridcurrent(x, y) and flow to Dcurrent(x, y) is decomposed, and obtains the x of n*n
Direction current speed list UcurrentXWith the direction y current speed list UcurrentY；
(4-2) is respectively to the unmanned boat for being directed toward eight directions of surrounding (east, south, west, north, northeast, northwest, the southeast, southwest)
Ground speed Uground(user according to the actual situation custom size) decomposes, obtains the direction the x ground speed list of 8*1
UgroundXWith the direction y ground speed list UgroundY；
(4-3) is according to UcurrentX、UcurrentY、UgroundXAnd UgroundYCalculate separately out the direction the x three-dimensional unmanned boat of n*n*8
Speed heap UusvXWith the direction y three-dimensional unmanned boat speed heap UusvY；
(4-4) is according to UusvXAnd UusvY, the three-dimensional unmanned boat speed heap of n*n*8 under the influence of ocean current is calculated by Pythagorean theorem
U_stack_usv。
The step (12) specifically includes:
(12-1) is calculated from current inspecting position (xi,yi) arrive terminal (xgoal, ygoal) Manhattan diagonal distance
Heuristic_d and linear distance heuristic_s；
(12-2) calculates (xi,yi) and (xgoal, ygoal) between relative position angle f_h；
(12-3) is according to (xi,yi), f_h, heuristic_d and heuristic_s selection U_stack_usv in it is corresponding
Inspire all unmanned boat speed { U_h } on the heuristic of path；
(12-4) judges whether heuristic_d is equal to 0, is, utilizes { U_h }, UgroundIt is calculated with heuristic_sEnergy estimators e_heurstic is obtained, is otherwise gone to step
(12-5), whereinIt indicates to inspire all unmanned boat speed on the heuristic of path；
(12-5) is according to (xi,yi)、(xgoal, ygoal)、{U_h}、Uground, heuristic_s and heuristic_d, meter
It calculatesWhereinIndicate unmanned boat speed on all diagonal paths,Indicate nobody on all straight line paths
Ship speed, the same step of ε (10)；
The unmanned boat kinetic model under action of ocean current in the step (10) specifically includes:
The unmanned boat is from (xusv, yusv) arrive (xi,yi) consumed by energy e_cost (i) calculation formula are as follows:
E_cost=ε | U_c3/Uground|·d_c；
Wherein ε is the towing force coefficient of unmanned boat.
The present invention is compared with prior art, and beneficial effect is:
1. the present invention proposes the unmanned boat under the influence of ocean current for the unmanned boat economized path planning problem under the influence of ocean current
Unit grids unmanned boat state each under action of ocean current is estimated in speed heap U_stack_usv, realization, in energy conservation plan mistake
Unmanned boat actual consumption e_cost is calculated in journey and energy consumption e_heurstic is inspired to provide independent variable solution space；
2. designing the energy for considering ocean current according to the unmanned boat kinetic model under ocean current state based on A star algorithm
Heuristic function E_heurstic is consumed, and by the adjustment to the function weight, energy conservation plan algorithm energy-saving efficiency is moved in realization
State is adjusted, and has been efficiently accomplished the planning of unmanned boat economized path by simulating, verifying, has been improved the afloat cruising ability of unmanned boat.
Detailed description of the invention
Fig. 1 is the main flow chart for the energy saving A star paths planning method for considering that ocean current and unmanned boat Dynamics Coupling influence；
Fig. 2 is U_stack_usv structure chart；
Fig. 3 is the calculation flow chart of the unmanned boat speed heap U_stack_usv under the influence of ocean current；
Fig. 4 is the calculation flow chart for considering the unmanned boat energy consumption heuristic function E_heurstic of ocean current.
Specific embodiment
The present invention will be described in detail for citing with reference to the accompanying drawing:
In conjunction with Fig. 1, this method comprises the following steps:
Based on A star algorithm, based on the unmanned boat kinetic model under action of ocean current, nobody for considering ocean current is designed
Ship energy consumption heuristic function E_heurstic, and dynamic regulation can be carried out to the energy-saving efficiency of the energy conservation plan algorithm, effectively
Unmanned boat self energy has been saved, the cruising ability of unmanned boat is substantially increased.
The invention mainly includes steps:
(1) global nautical chart information and global Ocean current information are obtained, gridding resolution ratio n is set and by sea chart and current chart net
It formats, forms the grid sea chart and grid current chart of n*n；
(2) the obstacle value in grid sea chart is set as Inf, i.e., infinitely great, other are set as 1, indicate standing level from a net
Lattice move closer to grid and need to consume the energy of 1 unit, and ocean current in each unit grids is contained in grid current chart
Flow velocity Ucurrent(x, y) and flow to Dcurrent(x,y)；
(3) start position (x of unmanned boat is obtainedstart,ystart) and final position (xgoal,ygoal) information, and enable nobody
Ship current location (xusv, yusv) it is equal to (xstart,ystart), create OPEN table and CLOSED table；
(4) the unmanned boat speed heap U_stack_usv under action of ocean current is calculated；
(4-1) is by the current speed U in n*n gridcurrent(x, y) and flow to Dcurrent(x, y) is decomposed, and obtains the x of n*n
Direction current speed list UcurrentXWith the direction y current speed list UcurrentY；
(4-2) is respectively to the unmanned boat for being directed toward eight directions of surrounding (east, south, west, north, northeast, northwest, the southeast, southwest)
Ground speed Uground(user according to the actual situation custom size) decomposes, obtains the direction the x ground speed list of 8*1
UgroundXWith the direction y ground speed list UgroundY；
(4-3) is according to UcurrentX、UcurrentY、UgroundXAnd UgroundYCalculate separately out the direction the x three-dimensional unmanned boat of n*n*8
Speed heap UusvXWith the direction y three-dimensional unmanned boat speed heap UusvY；
(4-4) is according to UusvXAnd UusvY, the three-dimensional unmanned boat speed heap of n*n*8 under the influence of ocean current is calculated by Pythagorean theorem
U_stack_usv；
(5) by (xusv, yusv) deposit OPEN table；
(6) judge unmanned boat current location (xusv,yusv) around i-th of inspecting position (xi,yi) it whether is Inf, it is then
(7) are gone to step, (8) are otherwise gone to step；
(7) judge whether i is equal to 8, be, go to step (18), otherwise enable i=i+1 and return step (6)；
(8) according to (xusv, yusv) and (xi,yi) relative position calculate the driving direction f_c and distance d_c of unmanned boat；
(9) according to f_c and (xusv, yusv) select unmanned boat speed U_c corresponding in U_stack_usv；
(10) according to U_c, UgroundAnd d_c, utilize the unmanned boat kinetic model e_cost=ε under action of ocean current | U_
c3/Uground|·d c, unmanned boat is calculated from (xusv, yusv) arrive (xi,yi) consumed by energy e_cost (i), wherein ε is nothing
The towing force coefficient of people's ship, it is related with hull shape itself and drinking water；
(11) sofar_cost=e_cost (i)+sofar_cost, sofar_cost is enabled to be used to save with starting point (xstart,
ystart) arrive (xi,yi) needed for energy, initial value 0；
(12) heuristic function E_heurstic is called, is estimated from (xi,yi) arrive (xgoal,ygoal) need the energy e_ that consumes
heurstic(i)；
(12-1) is calculated from current inspecting position (xi,yi) arrive terminal (xgoal, ygoal) Manhattan diagonal distance
Heuristic_d and linear distance heuristic_s；
(12-2) calculates (xi,yi) and (xgoal, ygoal) between relative position angle f_h；
(12-3) is according to (xi,yi), f_h, heuristic_d and heuristic_s selection U_stack_usv in it is corresponding
All unmanned boat speed { U_h } on the heuristic of path are inspired, such as when f_h is 60 °, is considered as and drives towards northeastward, answer
Successively selection U_stack_usv (x, x+1 ..., x+heuristic) row (y, y+1 ..., y+heuristic) arranges NE layers
All speed, wherein heuristic=heuristic_d+heuristic_s；
(12-4) judges whether heuristic_d is equal to 0, is, utilizes { U_h }, UgroundIt is calculated with heuristic_sEnergy estimators e_heurstic is obtained, is otherwise gone to step
(12-5), whereinIt indicates to inspire all unmanned boat speed on the heuristic of path；
(12-5) is according to (xi,yi)、(xgoal, ygoal)、{U_h}、Uground, heuristic_s and heuristic_d, meter
It calculatesWhereinIndicate unmanned boat speed on all diagonal paths,Indicate nobody on all straight line paths
Ship speed, the same step of ε (10)；
(13) judge (xi,yi) whether be not only not belonging to CLOSED table but also be not belonging to OPEN table, it is then by (xi,yi) be added
OPEN table, even OPEN (xi,yi) (1) be equal to sofar_cost, OPEN (xi,yi) (2) be equal to e_heurstic (i) and turn step
Suddenly (17) otherwise go to step (14)；
(14) judge (xi,yi) OPEN table whether is already belonged to, it is to go to step (15), otherwise goes to step (16)；
(15) judge whether sofar_cost is less than OPEN (xi,yi) (1), it is then with (xi,yi) update OPEN (xi,yi) in
Corresponding value goes to step (17)；
(16) judge whether sofar_cost is less than CLOSED (xi,yi), it is to enable CLOSED (xi,yi) it is equal to sofar_
Cost goes to step (17)；
(17) e_function (i)=α costchart (x is calculatedi,yi)+β e_heurstic (i), wherein α, β divide
Do not represent the weight parameter of cost value and inspiration value, when α > > β, amount of energy saving is higher but planning speed is lower；Otherwise planning speed is got over
Fast but amount of energy saving is lower, goes to step (7)；
(18) by unmanned boat current location (xusv, yusv) deleted from OPEN table, CLOSED table is added；
(19) (x corresponding to the minimum value in { e_function } is takeni,yi), enable (xusv, yusv) it is equal to (xi,yi)；
(20) judge (xusv, yusv) whether it is equal to (xgoal,ygoal), it is to arrive at terminal planning to terminate, otherwise return step
(5)；
Unmanned boat speed heap U_stack_usv is a core of the invention, and here is about the detailed of U_stack_usv
Illustrate:
The structure of U_stack_usv from lowest level to top layer as shown in Fig. 2, successively represent each unit on n*n map
Grid unmanned boat under action of ocean current to E (east), W (west), S (south), N (north), SE (southeast), SW (southwest), NW (northwest) and
The unmanned boat speed for needing engine to provide when NE (northeast) eight direction runnings, is realized in global map with this to different situations
The estimation of lower unmanned boat speed per hour.In conjunction with Fig. 3, steps are as follows for the calculating of unmanned boat speed heap U_stack_usv under action of ocean current:
(1) direction x current speed list U is calculated separatelycurrentXWith the direction y current speed list UcurrentY；
(2) direction x ground speed list U is calculated separatelygroundXWith the direction y ground speed list UgroundY；
(3) i is enabled to be equal to 1；(4) j is enabled to be equal to 1；(5) k is enabled to be equal to 1；
(6) direction x unmanned boat speed heap U is calculated separatelyusvX(i, j, k)=UgroundX(k)-UcurrentX(i, j), the direction y
Unmanned boat speed heap UusvY(i, j, k)=UgroundY(k)-UcurrentY(i, j)；
(7) judge whether k is equal to 8, be, go to step (8), otherwise enable k=k+1, go to step (6)；
(8) judge whether j is equal to n, be, go to step (9), otherwise enable j=j+1, go to step (5)；
(9) judge whether i is equal to n, be, go to step (10), otherwise enable i=i+1, go to step (4)；
(10) unmanned boat speed heap U_stack_usv=(U is calculatedusvX 2+UusvY 2)0.5；
Unmanned boat energy consumption heuristic function E_heurstic under action of ocean current is second core of the invention, and here is to close
In illustrating for E_heurstic:
In conjunction with Fig. 3, the step of E_heurstic function, is as follows:
(1) it calculates from current inspecting position (xi,yi) arrive terminal (xgoal, ygoal) Manhattan diagonal distance
Heuristic_d and linear distance heuristic_s, wherein
Heuristic_d=min (abs (xi-xgoal),abs(yi-ygoal))
Heuristic_s=abs (xi-xgoal)+abs(yi-ygoal)-2×heuristic_d
(2) (x is calculatedi,yi) and terminal between relative position angle f_h；
(3) the corresponding all unmanned boat speed { U_h } inspired on the heuristic of path in U_stack_usv are chosen,
Middle heuristic=heuristic_d+heuristic_s；
(4) judge whether heuristic_d is equal to 0, be, calculate
, otherwise go to step (5)；
(5) it calculates
The present invention, based on the unmanned boat kinetic model under action of ocean current, designs consideration ocean current based on A star algorithm
Unmanned boat energy consumption heuristic function E_heurstic, and can to the energy-saving efficiency of the energy conservation plan algorithm carry out dynamic regulation,
Unmanned boat self energy has effectively been saved, the cruising ability of unmanned boat is substantially increased.It is compared with prior art, beneficial to effect
Fruit is:
1. the present invention proposes the unmanned boat under the influence of ocean current for the unmanned boat economized path planning problem under the influence of ocean current
Unit grids unmanned boat state each under action of ocean current is estimated in speed heap U_stack_usv, realization, in energy conservation plan mistake
Unmanned boat actual consumption e_cost is calculated in journey and energy consumption e_heurstic is inspired to provide independent variable solution space；
2. designing the energy for considering ocean current according to the unmanned boat kinetic model under ocean current state based on A star algorithm
Heuristic function E_heurstic is consumed, and by the adjustment to the function weight, energy conservation plan algorithm energy-saving efficiency is moved in realization
State is adjusted, and has been efficiently accomplished the planning of unmanned boat economized path by simulating, verifying, has been improved the afloat cruising ability of unmanned boat.
Claims (4)
1. considering the energy saving A star paths planning method of ocean current and unmanned boat kinetic effect, specifically comprise the following steps:
(1) global nautical chart information and global Ocean current information are obtained, gridding resolution ratio n is set and by sea chart and current chart grid
Change, forms the grid sea chart and grid current chart of n*n；
(2) the obstacle value in grid sea chart is set as infinitely great Inf, other are set as 1, and each unit is contained in grid current chart
The flow velocity U of ocean current in gridcurrent(x, y) and flow to Dcurrent(x,y)；
(3) start position (x of unmanned boat is obtainedstart,ystart) and final position (xgoal,ygoal) information, and unmanned boat is enabled to work as
Front position (xusv, yusv) it is equal to (xstart,ystart), create OPEN table and CLOSED table；
(4) U_stack_usv successively represents each unit grids unmanned boat on n*n map from lowest level to top layer and makees in ocean current
The unmanned boat speed for needing engine to provide when with lower eight direction runnings to E, W, S, N, SE, SW, NW and NE；It calculates in ocean current
Unmanned boat speed heap U_stack_usv under effect；
(5) by (xusv, yusv) deposit OPEN table；
(6) judge unmanned boat current location (xusv,yusv) around i-th of inspecting position (xi,yi) it whether is Inf, it is to turn to walk
Suddenly (7) otherwise go to step (8)；
(7) judge whether i is equal to 8, be, go to step (18), otherwise enable i=i+1 and return step (6)；
(8) according to (xusv, yusv) and (xi,yi) relative position calculate the driving direction f_c and distance d_c of unmanned boat；
(9) according to f_c and (xusv, yusv) select unmanned boat speed U_c corresponding in U_stack_usv；
(10) according to U_c, UgroundAnd d_c, using the unmanned boat kinetic model under action of ocean current calculate unmanned boat from
(xusv, yusv) arrive (xi,yi) consumed by energy e_cost (i)；
(11) sofar_cost=e_cost (i)+sofar_cost, sofar_cost is enabled to be used to save with starting point (xstart,
ystart) arrive (xi,yi) needed for energy, initial value 0；
(12) heuristic function E_heurstic is called, is estimated from (xi,yi) arrive (xgoal,ygoal) need the energy e_ that consumes
heurstic(i)；
(13) judge (xi,yi) whether be not only not belonging to CLOSED table but also be not belonging to OPEN table, it is then by (xi,yi) OPEN table is added,
Even OPEN (xi,yi) (1) be equal to sofar_cost, OPEN (xi,yi) (2) be equal to and e_heurstic (i) and go to step (17),
Otherwise (14) are gone to step；
(14) judge (xi,yi) OPEN table whether is already belonged to, it is to go to step (15), otherwise goes to step (16)；
(15) judge whether sofar_cost is less than OPEN (xi,yi) (1), it is then with (xi,yi) update OPEN (xi,yi) in it is corresponding
Value, go to step (17)；
(16) judge whether sofar_cost is less than CLOSED (xi,yi), it is to enable CLOSED (xi,yi) it is equal to sofar_cost,
Go to step (17)；
(17) e_function (i)=α costchart (x is calculatedi,yi)+β e_heurstic (i), wherein α, β generation respectively
The weight parameter of table cost value and inspiration value, when α > > β, amount of energy saving is higher but planning speed is lower；Otherwise planning speed is faster
But amount of energy saving is lower, goes to step (7)；
(18) by unmanned boat current location (xusv, yusv) deleted from OPEN table, CLOSED table is added；
(19) (x corresponding to the minimum value in { e_function } is takeni,yi), enable (xusv, yusv) it is equal to (xi,yi)；
(20) judge (xusv, yusv) whether it is equal to (xgoal,ygoal), it is to arrive at terminal planning to terminate, otherwise return step (5).
2. a kind of energy saving A star path planning for considering ocean current and unmanned boat Dynamics Coupling and influencing according to claim 1
Method, which is characterized in that the step (4) specifically includes:
(4-1) is by the current speed U in n*n gridcurrent(x, y) and flow to Dcurrent(x, y) is decomposed, and obtains the direction x of n*n
Current speed list UcurrentXWith the direction y current speed list UcurrentY；
(4-2) respectively to be directed toward eight directions of surrounding (east, south, west, north, northeast, northwest, the southeast, southwest) unmanned boat over the ground
Speed Uground(user according to the actual situation custom size) decomposes, obtains the direction the x ground speed list of 8*1
UgroundXWith the direction y ground speed list UgroundY；
(4-3) is according to UcurrentX、UcurrentY、UgroundXAnd UgroundYCalculate separately out the direction the x three-dimensional unmanned boat speed of n*n*8
Heap UusvXWith the direction y three-dimensional unmanned boat speed heap UusvY；
(4-4) is according to UusvXAnd UusvY, the three-dimensional unmanned boat speed heap U_ of n*n*8 under the influence of ocean current is calculated by Pythagorean theorem
stack_usv。
3. the energy saving A star paths planning method according to claim 1 for considering ocean current and unmanned boat kinetic effect, special
Sign is that the step (12) specifically includes:
(12-1) is calculated from current inspecting position (xi,yi) arrive terminal (xgoal, ygoal) Manhattan diagonal distance
Heuristic_d and linear distance heuristic_s；
(12-2) calculates (xi,yi) and (xgoal, ygoal) between relative position angle f_h；
(12-3) is according to (xi,yi), f_h, heuristic_d and heuristic_s selection U_stack_usv in corresponding inspiration
All unmanned boat speed { U_h } on the heuristic of path；
(12-4) judges whether heuristic_d is equal to 0, is, utilizes { U_h }, UgroundIt is calculated with heuristic_sEnergy estimators e_heurstic is obtained, is otherwise gone to step
(12-5), whereinIt indicates to inspire all unmanned boat speed on the heuristic of path；
(12-5) is according to (xi,yi)、(xgoal, ygoal)、{U_h}、Uground, heuristic_s and heuristic_d, calculateWherein
Indicate unmanned boat speed on all diagonal paths,Indicate the unmanned boat speed on all straight line paths, ε is same
Step (10).
4. the energy saving A star paths planning method according to claim 1 for considering ocean current and unmanned boat kinetic effect, special
Sign is that the unmanned boat kinetic model under action of ocean current in the step (10) specifically includes:
The unmanned boat is from (xusv, yusv) arrive (xi,yi) consumed by energy e_cost (i) calculation formula are as follows:
E_cost=ε | U_c3/Uground|·d_c；
Wherein ε is the towing force coefficient of unmanned boat.
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