METHOD AND SYSTEM FOR PLANNING PATH OF UNMANNED SURFACE VEHICLE BASED ON FORWARD/REVERSE DATA-DRIVEN LINEAR PARAMETER-VARYING GENETIC ALGORITHM

摘要

A method and system for planning a path of an unmanned surface vehicle based on a forward/reverse data-driven linear parameter-varying genetic algorithm. The method comprises: receiving navigation data, a ship log, and state information of an unmanned surface vehicle (S1); converting the navigation data into a coordinate system and drawing a coordinate map, and marking a target point and a real-time position of the unmanned surface vehicle in the coordinate map (S2); generating an optimal track of path planning of the unmanned surface vehicle using a forward data-driven linear parameter-varying genetic algorithm or a reverse data-driven linear parameter-varying genetic algorithm (S3); and integrating the optimal track of the path planning of the unmanned surface vehicle with the ship log and the state information to obtain a sail track of the unmanned surface vehicle and a distance and a deflection angle between the unmanned surface vehicle and the target point to control a steering engine to perform sail track offset correction and ship speed adjustment.