Study on Ship Dynamic Route Planning in Multi-bridges Water Area Based on PSO-OPF Algorithm

摘要

With the implementation of the Strategies along River EconomicSupport Strip, bridges cluster construction has been formed inmany waters such as the Yangtze River, Pearl River and otherwaterways. Ship-bridge collision accidents caused by multibridgesinfluences occurred frequently. Therefore, it is quiteseriously necessary and urgent to carry out the ship-bridgecollision avoidance relevant studies. For the problems of ship routeplanning in multi-bridges water area, after analyzing the featuresof multi-bridges water area and the sailing regulation constraints,the unconstrained and multi-constrained route cost functionmodels were established. By bringing several dynamic obstaclesin a static environment model, the dynamic obstacles environmentmodel in the multi-bridges water area was established. Accordingto introducing dynamic collision detection modules method andputting forward several optimal objectives including the shortestroute distance, safety navigating without collisions, ParticleSwarm Optimization with Outer Penalty Function was applied toplan a Multi-Constraints ship dynamic route without collisionsunder 3 types of traffic flows environment with multiple dynamicobstacles in the multi-bridges water area. By using Matlabsimulation platform, the effectiveness of the algorithm wasverified to ensure the safety of ships navigation and the multibridges.The conclusions could be used for intelligent autopilot ofships, and for synergy search and rescue of Unmanned SurfaceVehicles (USV).