Optimization Study of Ship Path Planning in Complex Water Area Based on Nautical Practice

摘要

With the rapid development of the water transportation, ships tend tobe more large-scale and intelligent, and ships navigable watersbecomes more and more complicated. It leads to ship’s navigation isdifficult in complex water area. The path planning of complex watersbecomes increasingly outstanding. As a kind of complex water, groupof bridge-building has been formed in many waterways, such as theYangtze River and Pearl River, which resulted in collision betweenship and bridge abutment increased, made the navigable waterscomplicated. This paper selected multi-bridges water area as themodel environment, and established path planning mathematicalmodels. The model was solved via the Hybrid based on ParticleSwarm Optimization algorithm to get the planning path in the givenenvironment. Considering the application of path in nautical practice,this paper put forward an optimization approach by controlling thedifference of course between 2 adjacent segments of the path.Through calculating the inclination angle difference of relevant linesobtain the difference of course, combined with the passage planningexperience find the appropriate inclination angle difference thresholdto eliminate redundant path nodes. The simulation result shows thatthe optimization can effectively reduce the way-points of the path,avoid frequent course changing for ships, get the way-points andcourses, and the result of route planning can be applied to nauticalpractice directly, which makes the route planning more practicalsignificance.