CN114859925A - Ship route planning method based on dynamic window method - Google Patents
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Abstract
The application provides a ship route planning method based on a dynamic window method, which comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path. The ship route planning model not only ensures the navigation safety, but also improves the economy and the high efficiency of navigation, and has very good practical value.
Description
Technical Field
The invention relates to the technical field of ship navigation safety mid-course planning, in particular to a ship course planning method based on a dynamic window method.
Background
In the process of ship navigation, a safe and efficient air route needs to be made in real time, which is also the basis for ship going out of sea to execute tasks. With the rapid development of digital ocean technology, the intelligent marine vessel navigation is no longer limited to the original fixed route. In emergency search and rescue work of sea polices, the shortest route is more urgent to be established quickly. The navigation environment in the national defense field is more complex, and navigation personnel are required to plan a reasonable course line so as to accurately, safely, covertly and timely complete the navigation task allocated by the superior level and create conditions for better winning modern wars. Under the complex marine environment and weather conditions, a route with high economical efficiency and safety performance is quickly and effectively planned for a ship, and the method has great significance for trade shipping and military missions.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a ship route planning method based on a dynamic window method, which can quickly and effectively plan a route with high economic performance and safety performance for a ship under complex marine environment and weather conditions, ensures the navigation safety and improves the economy and the efficiency of navigation.
In order to achieve the above technical objective, a first aspect of the present invention provides a ship route planning method based on a dynamic window method, including the following steps:
acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position;
determining a speed sampling space, and optimizing in the speed sampling space according to the evaluation function by using a dynamic window method to obtain a current motion optimal path;
judging whether the current optimal moving path reaches the destination position or not;
and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
Compared with the prior art, the invention has the beneficial effects that:
according to the ship route planning method based on the dynamic window method, aiming at the problems of avoiding static obstacles and dynamic dangerous areas, a ship route planning model is established by weighting ship course scores, route distance scores, navigation speed scores and forward simulation track time through an evaluation function. The ship route planning model not only ensures the navigation safety, but also improves the economy and the high efficiency of navigation, and has very important application value for a navigation system for marine navigation.
According to some embodiments of the invention, after said determining whether the current optimal path of motion reaches the destination location, comprising the steps of:
if the current optimal moving path does not reach the destination position, judging whether the number of times of optimizing by using a dynamic window method reaches a preset value or not;
and if the optimizing times of the current dynamic window method do not reach the preset value, optimizing the speed sampling space by using the dynamic window method again according to the evaluation function to obtain the current optimal motion path.
According to some embodiments of the present invention, after the determining whether the number of times of the current dynamic window method optimization reaches the preset value, the method includes the steps of:
and if the optimization times of the current dynamic window method reach a preset value, outputting that the optimal path is not found.
According to some embodiments of the invention, the vessel motion parameters comprise: the initial speed, the acceleration and the course of the ship;
the obstacle motion parameters include: initial velocity of the obstacle, acceleration of the obstacle, and direction of the obstacle.
According to some embodiments of the invention, the determining the merit function of the vessel kinematics model comprises the steps of:
calculating to obtain an included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track and the speed value of the current track of the ship according to the initial position of the ship, the ship motion parameter, the initial position of the barrier, the barrier motion parameter and the destination position;
and calculating to obtain the evaluation function according to the included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track, the speed value of the current track of the ship, the first weight parameter, the second weight parameter and the third weight parameter.
According to some embodiments of the invention, the type evaluation function is determined as:
G(v，ω)＝σ(α·heading(v，ω)+β·dist(v，ω)+γ·velocity(v，ω))
wherein, the heading (v, omega) represents an included angle between the course of the ship reaching the tail end of the simulated track and the target, the dist (v, omega) represents the distance between the ship and the nearest obstacle on the current track, and the velocity (v, omega) represents the speed value of the current track of the ship; alpha represents a first weight parameter, beta represents a second weight parameter, and gamma represents a third weight parameter.
According to some embodiments of the present invention, the optimizing the current motion optimal path in the velocity sampling space according to the evaluation function by using a dynamic window method includes:
in the process of finding the next optimal path, traversing all current feasible speeds and feasible angular speeds in the speed sampling space, obtaining the current optimal evaluation, optimal speed and optimal angular speed through the evaluation function, and optimizing to obtain the current motion optimal path.
In a second aspect, a technical solution of the present invention provides a ship route planning device based on a dynamic window method, including:
the system comprises an initial state acquisition unit, a data acquisition unit and a data processing unit, wherein the initial state acquisition unit is used for acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
the evaluation function unit is used for establishing a ship kinematics model and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameter, the barrier initial position, the barrier motion parameter and the destination position;
the path optimizing unit is used for determining a speed sampling space and optimizing the speed sampling space according to the evaluation function by using a dynamic window method to obtain a current motion optimal path;
the path judging unit is used for judging whether the current optimal path reaches the destination position;
and the dynamic obstacle avoidance track map drawing unit is used for drawing a dynamic obstacle avoidance track map from the initial position of the ship to the destination position according to the current optimal motion path when the current optimal motion path reaches the destination position.
In a third aspect, an aspect of the present invention provides an electronic device, including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to implement the method for dynamic window approach based ship route planning as defined in any one of the first aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium, where the computer instructions are configured to cause the computer to execute the method for planning a ship route based on a dynamic window method according to any one of the first aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which the abstract is to be fully consistent with one of the figures of the specification:
FIG. 1 is a flowchart of a method for planning a ship route based on a dynamic window method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for planning a ship route based on a dynamic window method according to another embodiment of the present invention;
FIG. 3 is an overall frame diagram of a dynamic window method of a ship route planning method based on the dynamic window method according to another embodiment of the present invention;
FIG. 4 is a position relationship diagram of each step of optimization of a ship route planning method based on a dynamic window method according to another embodiment of the present invention;
fig. 5 is a track diagram of a ship route planning model for a ship route planning method based on a dynamic window method for avoiding static obstacles and dynamic dangerous areas according to another embodiment of the present invention;
FIG. 6 is a block diagram of an electronic device for implementing a dynamic windowing based ship route planning method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The invention provides a ship route planning method based on a dynamic window method, aiming at the problems of avoiding static obstacles and dynamic dangerous areas, a ship route planning model is established by weighting ship course score, route distance score, navigation speed score and forward simulation track time through an evaluation function. The ship route planning model not only ensures the navigation safety, but also improves the economy and the high efficiency of navigation, and has very important application value for a navigation system for marine navigation.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, fig. 1 is a flowchart of a ship route planning method based on a dynamic window method according to an embodiment of the present invention; the ship route planning method based on the dynamic window method comprises the following steps of:
step S110, acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
step S120, establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model;
step S130, determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current motion optimal path;
step S140, judging whether the current optimal movement path reaches the destination position;
and S150, if the current optimal motion path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal motion path.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
Aiming at the problems of avoiding static obstacles and dynamic dangerous areas, the ship route planning method based on the dynamic window method weights the ship course score, the route distance score, the navigation speed score and the forward simulation track time through the evaluation function, and establishes a ship route planning model. The ship route planning model not only ensures the navigation safety, but also improves the economy and the high efficiency of navigation, and has very good practical value.
Referring to fig. 2 to 5, fig. 2 is a flowchart of a ship route planning method based on a dynamic window method according to another embodiment of the present invention; FIG. 3 is an overall frame diagram of a dynamic window method of a ship route planning method based on the dynamic window method according to another embodiment of the present invention; FIG. 4 is a position relationship diagram of each step of optimization of a ship route planning method based on a dynamic window method according to another embodiment of the present invention; fig. 5 is a trajectory diagram of the ship route planning model for the ship route planning method based on the dynamic window method for avoiding static obstacles and dynamic dangerous areas according to another embodiment of the present invention.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps:
1. simulating sea conditions and positions of marine navigation of a ship, and setting initial positions and motion parameters of the ship, initial positions and motion parameters of obstacles and destination positions;
2. establishing a ship kinematics model, wherein parameters comprise: maximum speed (m/s), maximum rotational speed (rad/s), acceleration (m/ss), rotational acceleration (rad/ss), speed resolution (m/s), rotational speed resolution (rad/s);
3. the overall algorithm framework of the dynamic window method, wherein the model evaluation function is determined as: g (v, ω) ═ σ (α · leading (v, ω) + β · dist (v, ω) + γ · velocity (v, ω)). In the formula, the optimal speed and the optimal angular speed are obtained through a G (v, omega) value; the heading (v, omega) represents the included angle between the course of the ship reaching the tail end of the simulated track and the target at the currently set sampling speed; dist (v, ω) represents the distance between the current trajectory and the nearest obstacle; velocity (v, omega) is used for evaluating the speed of the current track, and the higher the speed is, the higher the score is; α, β, γ are 3 parameters, representing the weight of each function term. Item to be evaluated:
velocity(v,ω)＝|v i |；
(x i ,y i ),(x e ,y e ),(x obs ,y obs ) Respectively representing the current time coordinate, the end point position and the obstacle coordinate closest to the current time; v. of i Representing the current speed;
after calculation, normalization is required and then added, the criterion for normalization being the division of each term by the sum of each term. Namely:
4. determining a speed sampling space, and according to the maximum speed and the minimum speed limit of the simulated ship, determining a speed V s (v, ω) (which represents the linear velocity and angular velocity of the ship, respectively) satisfies: v s ＝{(v,ω),v min ≤v≤v max }; considering the constraint of driving force, there is maximum acceleration and deceleration limit, and further the velocity space is constrained by V d And (4) showing. Assume that the current linear velocity is v c The current angular velocity is ω c The time interval is t, the achievable speed V at the next moment d (v, ω) satisfies the following condition:
the final velocity sampling space is V r ＝V s ∩V d ；
5. Carry out the ith stepOptimizing the path by the state window method, and finding the next optimal path at V r All current feasible speeds and feasible angular speeds are traversed, and the current best evaluation, best speed and best angular speed are obtained through an evaluation function, so that the current motion optimal path is completed. The next time and current position relation is:
wherein (x) i ,y i ),(x i+1 ,y i+1 ) Respectively representing the current and next time coordinate positions,
v i ,θ i respectively representing the speed and the deflection angle at the current moment, and the related position relation is shown in figure 4;
6. looping the step (5) and storing the current optimal speed, the optimal angular speed and the motion track until the destination is reached;
7. and after the optimization is finished, drawing a dynamic obstacle avoidance track graph from the departure point to the destination.
TABLE 1 simulation modeling parameters
The simulation modeling process of the ship route planning method based on the dynamic window method, which is provided by the invention, aims at the problems of avoiding static obstacles and dynamic dangerous areas, ensures the navigation safety, improves the navigation economy and efficiency, is particularly suitable for the research of engineering designers in marine condition information on various marine navigation systems, and provides a scientific and reasonable mathematical model for designing a route planning system with excellent performance.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
After judging whether the current movement optimal path reaches the destination position, the method comprises the following steps: if the current optimal moving path does not reach the destination position, judging whether the current optimizing times by using a dynamic window method reach a preset value, wherein the preset value can be set to 5000, but the embodiment does not limit the optimal moving path, and the optimal moving path can also be other numerical values, such as 4000 or 6000; and if the optimization times of the current dynamic window method do not reach the preset value, optimizing according to the evaluation function in the speed sampling space by using the dynamic window method again to obtain the current motion optimal path.
In one embodiment, the method for planning the ship route based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
After judging whether the current movement optimal path reaches the destination position, the method comprises the following steps: if the current optimal moving path does not reach the destination position, judging whether the number of times of optimizing by using a dynamic window method reaches a preset value, wherein the preset value can be 5000; if the optimization times of the current dynamic window method do not reach the preset value, optimizing according to the evaluation function in the speed sampling space by using the dynamic window method again to obtain the current optimal motion path; and if the optimization times of the current dynamic window method reach a preset value, outputting that the optimal path is not found.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path. The ship motion parameters comprise: the initial speed, the acceleration and the course of the ship; the obstacle motion parameters include: initial velocity of the obstacle, acceleration of the obstacle, and direction of the obstacle.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position or not; and if the current optimal motion path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal motion path.
Determining an evaluation function of a ship kinematics model, comprising the steps of:
calculating to obtain an included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track and the speed value of the current track of the ship according to the initial position of the ship, the ship motion parameter, the initial position of the barrier, the barrier motion parameter and the destination position; and calculating to obtain an evaluation function according to an included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track, the speed value of the current track of the ship, the first weight parameter, the second weight parameter and the third weight parameter.
The type evaluation function was determined as:
G(v，ω)＝σ(α·heading(v，ω)+β·dist(v，ω)+γ·velocity(v，ω))
wherein, the heading (v, omega) represents an included angle between the course of the ship reaching the tail end of the simulated track and the target, the dist (v, omega) represents the distance between the ship and the nearest obstacle on the current track, and the velocity (v, omega) represents the speed value of the current track of the ship; alpha represents a first weight parameter, beta represents a second weight parameter, and gamma represents a third weight parameter.
In one embodiment, the ship route planning method based on the dynamic window method comprises the following steps: acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position; establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position; determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path; judging whether the current optimal moving path reaches the destination position; and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
Optimizing according to an evaluation function in a speed sampling space by using a dynamic window method to obtain a current motion optimal path, and comprising the following steps: in the process of searching the next optimal path, traversing all current feasible speeds and feasible angular speeds in a speed sampling space, obtaining the current optimal evaluation, optimal speed and optimal angular speed through an evaluation function, and optimizing to obtain the current optimal path of motion.
The invention also provides a ship route planning device based on the dynamic window method, which comprises the following steps:
the system comprises an initial state acquisition unit, a data acquisition unit and a data processing unit, wherein the initial state acquisition unit is used for acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
the evaluation function unit is used for establishing a ship kinematics model and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameter, the barrier initial position, the barrier motion parameter and the destination position;
the path optimizing unit is used for determining a speed sampling space and optimizing the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current motion optimal path;
the path judging unit is used for judging whether the current optimal path reaches the destination position;
and the dynamic obstacle avoidance track map drawing unit is used for drawing a dynamic obstacle avoidance track map from the initial position of the ship to the destination position according to the current optimal motion path when the current optimal motion path reaches the destination position.
Referring now to FIG. 6, a block diagram of an electronic device 900 suitable for use in implementing embodiments of the present invention is shown. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 900 may include a processing means 901, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)902 or a program loaded from a storage means 908 into a Random Access Memory (RAM) 903. Processing device 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processing device 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processing device 901 performs the various methods and processes described above.
In the RAM 903, various programs and data necessary for the operation of the electronic apparatus 900 are also stored. The processing apparatus 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
Generally, the following devices may be connected to the I/O interface 905: input devices 906 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 907 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 908 including, for example, magnetic tape, hard disk, etc.; and a communication device 909. The communication device 909 may allow the electronic apparatus 900 to perform wireless or wired communication with other apparatuses to exchange data. While fig. 5 illustrates an electronic device 900 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, an embodiment of the invention includes a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device 909, or installed from the storage device 908, or installed from the ROM 902. The computer program, when executed by the processing apparatus 901, performs the above-described functions defined in the methods of the embodiments of the present invention. Alternatively, in other embodiments, the processing device 901 may be configured to perform the dynamic window method-based ship route planning method by any other suitable means (e.g., by means of firmware).
The computer readable medium of the present invention described above may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:
acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameters, the barrier initial position, the barrier motion parameters and the destination position;
determining a speed sampling space, and optimizing in the speed sampling space according to an evaluation function by using a dynamic window method to obtain a current optimal motion path;
judging whether the current optimal moving path reaches the destination position;
and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. Wherein the name of a module in some cases does not constitute a limitation on the module itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof, among others.
Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server) or that includes a middleware component (e.g., an application server) or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Network (WAN) blockchain networks, and the internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome. The server may also be a server of a distributed system, or a server incorporating a blockchain.
Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge map technology and the like.
Cloud computing (cloud computing) refers to a technology system that accesses a flexibly extensible shared physical or virtual resource pool through a network, where resources may include servers, operating systems, networks, software, applications, storage devices, and the like, and may be deployed and managed in a self-service manner as needed. Through the cloud computing technology, high-efficiency and strong data processing capacity can be provided for technical application and model training of artificial intelligence, block chains and the like.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and the present invention is not limited herein as long as the desired result of the technical solution provided by the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A ship route planning method based on a dynamic window method is characterized by comprising the following steps:
acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
establishing a ship kinematics model, and determining an evaluation function of the ship kinematics model according to the initial position of the ship, the ship motion parameters, the initial position of the obstacle, the motion parameters of the obstacle and the destination position;
determining a speed sampling space, and optimizing in the speed sampling space according to the evaluation function by using a dynamic window method to obtain a current motion optimal path;
judging whether the current optimal moving path reaches the destination position or not;
and if the current optimal moving path reaches the destination position, drawing a dynamic obstacle avoidance track graph from the initial position of the ship to the destination position according to the current optimal moving path.
2. The dynamic window method-based ship route planning method according to claim 1, wherein after the determination of whether the current optimal path of motion reaches the destination location, the method comprises the steps of:
if the current optimal moving path does not reach the destination position, judging whether the number of times of optimizing by using a dynamic window method reaches a preset value or not;
and if the optimizing times of the current dynamic window method do not reach the preset value, optimizing the speed sampling space by using the dynamic window method again according to the evaluation function to obtain the current optimal motion path.
3. The dynamic window method-based ship route planning method according to claim 2, wherein after the determining whether the number of times of optimizing currently using the dynamic window method reaches a preset value, the method comprises the steps of:
and if the optimization times of the current dynamic window method reach a preset value, outputting that the optimal path is not found.
4. The dynamic window method-based ship route planning method according to claim 1, wherein the ship motion parameters comprise: the initial speed, the acceleration and the course of the ship;
the obstacle motion parameters include: initial velocity of the obstacle, acceleration of the obstacle, and direction of the obstacle.
5. The dynamic window method-based ship route planning method according to claim 1, wherein the determining the evaluation function of the ship kinematics model comprises the steps of:
calculating to obtain an included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track and the speed value of the current track of the ship according to the initial position of the ship, the ship motion parameter, the initial position of the barrier, the barrier motion parameter and the destination position;
and calculating to obtain the evaluation function according to the included angle between the course of the ship reaching the tail end of the simulated track and the target, the distance between the ship and the nearest barrier on the current track, the speed value of the current track of the ship, the first weight parameter, the second weight parameter and the third weight parameter.
6. The dynamic window method-based ship route planning method according to claim 5, wherein the type evaluation function is determined as:
G(v，ω)＝σ(α·heading(v，ω)+β·dist(v，ω)+γ·velocity(v，ω))
wherein, the heading (v, omega) represents an included angle between the course of the ship reaching the tail end of the simulated track and the target, the dist (v, omega) represents the distance between the ship and the nearest obstacle on the current track, and the velocity (v, omega) represents the speed value of the current track of the ship; alpha represents a first weight parameter, beta represents a second weight parameter, and gamma represents a third weight parameter.
7. The dynamic window method-based ship route planning method according to claim 1, wherein the current optimal motion path is obtained by optimizing the speed sampling space according to the evaluation function by using the dynamic window method, and the method comprises the following steps:
in the process of finding the next optimal path, traversing all current feasible speeds and feasible angular speeds in the speed sampling space, obtaining the current optimal evaluation, optimal speed and optimal angular speed through the evaluation function, and optimizing to obtain the current motion optimal path.
8. A ship route planning device based on a dynamic window method is characterized by comprising the following steps:
the system comprises an initial state acquisition unit, a data acquisition unit and a data processing unit, wherein the initial state acquisition unit is used for acquiring a ship initial position, a ship motion parameter, an obstacle initial position, an obstacle motion parameter and a destination position;
the evaluation function unit is used for establishing a ship kinematics model and determining an evaluation function of the ship kinematics model according to the ship initial position, the ship motion parameter, the barrier initial position, the barrier motion parameter and the destination position;
the path optimizing unit is used for determining a speed sampling space and optimizing the speed sampling space according to the evaluation function by using a dynamic window method to obtain a current motion optimal path;
the path judging unit is used for judging whether the current optimal path reaches the destination position;
and the dynamic obstacle avoidance track map drawing unit is used for drawing a dynamic obstacle avoidance track map from the initial position of the ship to the destination position according to the current optimal motion path when the current optimal motion path reaches the destination position.
9. An electronic device, comprising:
at least one processor;
and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to implement the dynamic windowing based ship route planning method of any of claims 1-7.
10. A computer readable storage medium, wherein the computer instructions are for causing the computer to perform the dynamic windowing based ship route planning method according to any one of claims 1-7.
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