Research on long-range path planning for environment-driven unmanned ships
Environmentally driver unmanned vehicles,such as wave gliders,saildrone,etc.,due to their own low speed,underdrive and weak maneuverability,are significantly disturbed by ocean currents when navigating in the ocean,and even lose control in some sea areas with strong ocean currents.In this paper,based on the priori known dynamic flow field,the path of the unmanned ship is randomly generated by the B-spline control points.Then calculating the comprehensive cost function of each path,which includes path distance,navigation speed and path smoothness.And using the genetic algorithm iteratively searches for the optimal combination of control points.In addition,comparing and analyzing the impact of depar-ture time on travel time,because of the characteristics of long voyage route planning in ocean.Simulation results show that the proposed path planning strategy can effectively increase the average speed of the unmanned vehicle in a large-scale dy-namic flow field and shorten the target arrival time.At the same time,in the large-scale and long-sequence voyage,choosing an appropriate departure time can further shorten the travel time.
万方数据
维普
