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CN114675652A - Multi-target ship route planning method based on AIS data in dynamic environment - Google Patents

Multi-target ship route planning method based on AIS data in dynamic environment Download PDF

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CN114675652A
CN114675652A CN202210337025.5A CN202210337025A CN114675652A CN 114675652 A CN114675652 A CN 114675652A CN 202210337025 A CN202210337025 A CN 202210337025A CN 114675652 A CN114675652 A CN 114675652A
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target
target ship
area
tug
ships
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CN114675652B (en
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朱坤
连雪海
潘佳梁
李杼
骆曹飞
富玲峰
王旭
张群峰
王森峰
田明达
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140th Institute Of 92941 Unit Of Chinese Pla
China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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140th Institute Of 92941 Unit Of Chinese Pla
China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

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Abstract

The invention discloses a multi-target ship route planning method based on AIS data in a dynamic environment, which obtains information of a target ship by receiving the AIS data of the target ship, has a simple and quick information obtaining mode, and improves the accuracy of information obtaining, thereby improving the accuracy of route planning and reducing the probability of accidents. When the area of the multi-target ship is divided, the path of the tug is planned according to the principle of approaching to far and taking all the target ships as destinations. During path planning, the position change of all target ships is considered, and the path planning method is simple and quick. After the preliminary planning of the tug route is completed, the intelligent obstacle avoidance algorithm is adopted to carry out obstacle avoidance processing on the route, and the final shortest navigation path of the tug is determined, so that the fuel consumption of the tug is reduced, the operating efficiency of the tug is improved, and the safe guarantee is provided for the tug operation.

Description

Multi-target ship route planning method based on AIS data in dynamic environment
Technical Field
The invention belongs to the field of ship route planning, and particularly relates to a multi-target ship route planning method based on AIS data in a dynamic environment.
Background
An AIS (automatic identification system for ships) is a novel navigation aid system applied to marine safety and communication between ships and shore, and can send AIS data of the ships to shore-based or satellite at intervals, wherein the AIS data comprises various information types such as static information, dynamic information and the like. The static information includes the name of the ship, the type of the ship and the like, and the dynamic information includes the position, the course, the speed and the like of the ship.
When the ship is close to a wharf, passes through a ship lock or passes through a limited water area, the guidance of a pilot is needed, so that the pilot is transported to a specified target ship by using a tugboat, and when the target ship runs to a sea area which does not need guidance of the pilot, the pilot is returned by using the tugboat. During the process of transporting the pilot by the tug, the target ship is still in a running state. In most cases, there are many vessels that require pilots during the same time period. Therefore, before the towboat transports the pilot to the multi-target ship, the shortest route for transporting the pilot is planned according to the course and the speed of the target ship.
At present, the existing ship route planning method cannot well solve the above problems, for example, in CN109933067A, an unmanned ship collision avoidance method based on a genetic algorithm and a particle swarm algorithm performs collision avoidance path planning for static obstacles and dynamic obstacles, but its target position is fixed and unchanged; for another example, in CN111538332B, the distance and course of the ship are obtained by the AIS receiver, and the collision-avoidance path planning is performed, and the target position is also kept unchanged; for example, a paper published in "chinese safety production science and technology" (2016, 10 th) by philosophy, "a method for planning a safety route using mass AIS data," plans a ship route using a-x algorithm based on the mass AIS data, but does not consider the situation that the target position changes at any time. Therefore, in a dynamic environment, AIS data is considered to be used for carrying out route planning on a multi-target ship, and the problem to be solved by the current ship route planning is solved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for planning the multi-target ship route based on the AIS data in the dynamic environment is provided.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a multi-target ship route planning method based on AIS data in a dynamic environment comprises the following specific steps:
step 1, acquiring AIS data of a target ship
The tug communicates with a target ship needing to be guided nearby through an AIS system of the tug, AIS data of the target ship are obtained, the number N (N is more than or equal to 2) of the target ship is counted, and the AIS data comprise the current position, the course and the speed of the target ship; the AIS data are as follows: the current positions of the N target ships are latitude and longitude coordinates, and are marked as G1 (lon)1，lat1)，G2(lon2，lat2)，......，GN(lonN，latN) (ii) a The course of N target ships is the true course and is recorded as alpha1，α2，......，αN(ii) a The navigational speeds of the N target ships are recorded as V1，V2，.......，VN；
Step 2, establishing a coordinate system
The initial position of the tug is taken as the original positionThe point O is a rectangular coordinate system established by taking a straight line parallel to the true meridian and passing through the origin O as a Y axis and a straight line perpendicular to the true meridian and passing through the origin O as an x axis, coordinate information of the points A1 and A2 is known by taking two points A1 and A2 in the rectangular coordinate system XOY, namely, the rectangular coordinate of the points A1 and A2 is A1(x is the right angle coordinate of the points A1 and A2)1，y1)，A2(x2，y2) (ii) a Longitude and latitude coordinates of the points A1 and A2 are A1 '(lon 1', lat1 '), A2' (lon2 ', lat 2');
step 3, coordinate conversion
Two vectors A12 and A1i are formed by taking the point A1 as a starting point and A2 and Gi (i is more than or equal to 1 and less than or equal to N) as an end point, and the rectangular coordinate of the vector A12 is (dx)1，dy1) Longitude and latitude coordinates of (dlon)1，dlat1) (ii) a The rectangular coordinate of vector A1i is (dx)i，dyi) Longitude and latitude coordinates of (dlon)i，dlati) (ii) a Wherein, dx1＝x2-x1，dy1＝y2-y1；dlon1＝lon2′-lon1′，dlat1＝lat2′-lat1′； dxi＝xi-x1，dyi＝yi-y1；dloni＝loni′-lon1′，dlati＝lati′-lat1′；xiAnd yiCoordinates of the ith target ship in the rectangular coordinate system XOY;
the moduli of the vectors A12 and A1i in a rectangular coordinate system and a longitude and latitude coordinate system are k1, k2, k3 and k 4; then
Figure RE-GDA0003644337790000031
Figure RE-GDA0003644337790000032
According to the principle that the length ratio of the two vectors in different coordinate systems is the same and the included angle of the two vectors in different coordinate systems is not changed, the rectangular coordinates and the longitude and latitude coordinates of the vectors A12 and A1i can meet the following relations:
Figure RE-GDA0003644337790000033
according to the above formula, the coordinates x of the ith target ship in the rectangular coordinate system XOY can be obtainediAnd yi；
Step 4, dividing the sea area where the target ship is located
According to the initial rectangular coordinates Gi' (x) of all the target shipsi，yi) Taking the initial position coordinates of the tug as an origin, forming a circle containing all target ships, wherein the radius of the circle is R1, the radius of the circle is R1 is divided into four parts, then 3 circles are determined, the radii of the circles are R2, R3 and R4(R4 < R3 < R2 < R1), and the sea area where all the target ships are located is divided into 5 areas, namely an area I, an area II, an area III, an area IV and an area V;
step 5, classifying ships in various sea areas
Calculating the distance l between all the target ships and the initial position of the tugi：
Figure RE-GDA0003644337790000041
Comparison liThe relationships with R1, R2, R3, R4, classify the target vessel:
if liIf R4 is less than the area I, the target ship belongs to the area I;
if R4 < liIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < liIf R2 is less than the preset range, the target ship belongs to the area III;
if R2 < liIf R1 is less than the target ship, the target ship belongs to the IV area;
and counting the number of ships in each area as Nj(j is I to IV) satisfies
Figure RE-GDA0003644337790000042
And renumbering the sectored target vessel to Gjm(0＜m＜Nj)；
Step 6, primarily planning the tug route
The route planning of the tug of the multi-target ship in the j (j is I-IV) area is as follows:
6.1, position O of tugboatn(xｎ，yn) (N is 0. ltoreq. n.ltoreq.N-1) (Point O)nCoordinates are known) as a starting point, a shaft y' is established parallel to the y-axis and a point a is taken at a distance z on the shaft yn(xn，y′n) (y′n＝yn+z)；
6.2 at point OnAs a starting point, AnAnd GjmAs an end point, two vectors OA are formednAnd OGjmVector OAnHas rectangular coordinates of (0, z); vector OGjmHas a rectangular coordinate of (x)jm-xn，yjm-yn)；xjmAnd yjmFor a target vessel GjmCoordinates in a rectangular coordinate system XOY;
6.3 calculating vector OGjmDie SjmThe formula is as follows:
Figure RE-GDA0003644337790000043
6.4 calculating two vectors OAnAnd OGjmAngle of (theta)jmThe formula is as follows:
Figure RE-GDA0003644337790000051
6.5 setting tug wheel edge betajmDirection, at speed V, for time t, at point B and target ship GjmMeeting; wherein beta isjmIs the running direction and vector OG of the tugjmThe included angle between them; the speed V is known and satisfies V ≧ { V ≧1，V2，......，VN}max；
6.6 calculating tug and target vessel GjmIs running distance HjmAnd FjmThe formula is as follows:
Hjm＝V*tjm
Fjm＝Vjm*tjm
6.7 for the target vessel GjmRunning course alpha ofjmAnd (4) judging: if 0°＜αjm< 180 °, go to step 6.8; if 180 DEG < alphajm< 360 °, go to step 6.9; if α isjmStep 6.10 is performed, either 0 ° or 360 °; if α isjmStep 6.11 is performed, 180 °;
6.8, angle βjnThe following equation is satisfied:
Figure RE-GDA0003644337790000052
wherein gamma isjm＝αjm-(θjm+βjm)，0°＜βjm＜αjm-θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000053
at 0 DEG < betajm＜αjm-θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.9, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000054
wherein, γjm＝180°-δjm-βjm，δjm＝180°-εjm-θjmIn which epsilonjm＝360°-αjmOf so isjm＝360°+θjm-αjm-βjm， 0°＜βjm＜360°-αjm+θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000061
at 0 DEG < betajm＜360°-αjm+θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.10, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000062
wherein, γjm＝180°-δjm-βjm，δjm＝180°-θjmOf so isjm＝θjm-βjm， 0°＜βjm＜θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000063
at 0 DEG < betajm＜θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.11, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000064
wherein, gamma isjm＝180°-δjm-βjm，δjm＝θjmOf therefore gammajm＝180°-θjm-βjm， 0°＜βjm＜180°-θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000065
at 0 DEG < betajm＜180°-θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.12, carrying out reduction treatment on the number of the target ships: n ← N-1;
step 7, calculating the current positions of the remaining N target ships
In determining the movement of the tug from the current position to the target vessel GjmTime t required for shortest path ofjmThereafter, N target ships G remainjn(0 < N < N) from an initial position Gjn(xjn，yjn) (position G)jnIs known) to the current position G'jn(x′jn，y′jn) The current position coordinates are calculated as follows:
7.1 for the target ship GjnSpeed of flight VjnDecomposing to obtain:
Figure RE-GDA0003644337790000071
wherein, Vjnx、VjnyRespectively is the speed VjnComponents in the horizontal and vertical directions;
7.2、tjmafter the moment, the target vessel GjnThe following travel distances were obtained:
Figure RE-GDA0003644337790000072
wherein S isjnx、SjnyAre respectively a target ship GjnAt t in the horizontal and vertical directionsjmThe inner movement distance;
7.3 for the remaining N target ships GjnRunning course alpha ofjnAnd (4) judging: if alpha is less than or equal to 0 degreejn< 90 °, perform step 7.4; if the angle is less than or equal to alpha of 90 degreesjn< 180 °, perform step 7.5; if the angle is less than or equal to 180 degrees alphajn< 270 °, go to step 7.6; if the angle is less than or equal to 270 degreesjnLess than or equal to 360 degrees, executing the step 7.7;
7.4, angle τjnSatisfy τjn＝αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000073
7.5, angle τjnSatisfy τjn＝180°-αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000081
7.6 angleDegree taujnSatisfy τjn＝αjnAt-180 deg., the target vessel GjnCurrent position coordinate G'jn(x′jn，y′jn) In which
Figure RE-GDA0003644337790000082
7.7 angle τjnSatisfy τjn＝360°-αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000083
Step 8, judging and updating the sea area where the target ship is located
Calculating the remaining N target vessels GjnDistance l from initial position of tugi：
Figure RE-GDA0003644337790000084
Comparison of l'iAnd updating and iterating the classification of the original target ships in each region according to the relations among R1, R2, R3 and R4:
l'iIf Rj is less than Rj, the target ship belongs to the area I;
if R4 < l'iIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < l'iIf R2 is less than the preset range, the target ship belongs to the area III;
if R2 < l'iIf R1 is less than the target ship, the target ship belongs to the IV area;
l'iIf R4 is greater than the target ship, the target ship belongs to the V area;
updating the number of existing ships in each region to Ns(s is I to V) satisfies
Figure RE-GDA0003644337790000085
Step 9, judging path planning
Judging the number N of the remaining target ships: if N ≠ 0, then for the next targetBoat Gjm+1Planning a path and turning to the step 6; if N is equal to 0, performing step 10;
step 10, intelligent obstacle avoidance planning: and carrying out obstacle avoidance processing on the preliminary path of the target ship.
As a preferred scheme, the intelligent obstacle avoidance planning of step 10 specifically includes the following processes:
10.1, establishing a grid map: establishing a grid map for the area where the tug is located according to the initial starting position of the tug and the final positions of all target ships, wherein the range of the grid map covers the starting position and the final positions; the width of the grid is set to be 2-15 times of the length of the ship body;
10.2, marking the non-navigable area in the grid map: firstly, synchronously providing information such as coordinates, sizes and the like of reefs and restricted navigation areas through an electronic chart, and occupying positions in a grid map; secondly, determining reefs and a no-go area near the primary path of the target ship; secondly, regularizing the barrier through primary expansion, and performing secondary expansion on the basis of the primary expansion to reserve a safety distance; finally, marking the non-navigable area in the grid map;
10.3, planning a route near the non-navigable area by using an intelligent obstacle avoidance algorithm: and after the grid map with the obstacle markers is established, executing an intelligent obstacle avoidance algorithm.
As a preferred scheme, the intelligent obstacle avoidance algorithm is an a-x algorithm.
The invention has the beneficial effects that:
the AIS data-based multi-target ship route planning method obtains the information of the target ship by receiving the AIS data of the target ship, the information obtaining mode is simple and quick, and the accuracy of obtaining the information is improved, so that the route planning accuracy is improved, and the accident occurrence probability is reduced. When the area of the multi-target ship is divided, the path planning is carried out on the tug boat by taking all the target ships as destinations according to the principle of near to far. During path planning, the position change of all target ships is considered, and the path planning method is simple and quick. After the preliminary planning of the tug route is completed, the intelligent obstacle avoidance algorithm is adopted to carry out obstacle avoidance processing on the route, and the final shortest navigation path of the tug is determined, so that the fuel consumption of the tug is reduced, the operating efficiency of the tug is improved, and the safe guarantee is provided for the tug operation.
Drawings
FIG. 1 is a schematic view of the sea area where the multi-target ship of the present invention is located
FIG. 2 is a flow chart of the route planning of the target ship of the present invention
FIG. 3 is a schematic view of the target ship of the present invention with a course of 0 to 180 °
FIG. 4 is a schematic view of the target ship of the present invention with a course of 180 DEG to 360 DEG
FIG. 5 is a schematic view of the target ship of the present invention with a course of 0 degree or 360 degrees
FIG. 6 is a schematic view of the target ship of the present invention with a course of 180 degrees
FIG. 7 is an exploded view of the target vessel heading of the present invention at 0 to 90 DEG speed
FIG. 8 is an exploded view of the target vessel heading at 90 to 180 of the present invention
FIG. 9 is an exploded view of the target vessel course of the present invention at a navigational speed of 180 DEG to 270 DEG
FIG. 10 is an exploded view of the target vessel course of the present invention at 270 to 360 speed
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 10, the AIS data-based multi-target ship route planning method in a dynamic environment of the present invention is as follows:
step 1, obtaining AIS data of a target ship
The tug communicates with a target ship needing a pilot nearby through an AIS system of the tug, AIS data of the target ship are obtained, the number N (N is larger than or equal to 2) of the target ship is counted, and the AIS data comprise the current position, the course, the speed and the like of the target ship. The AIS data are as follows: the current positions of the N target ships are latitude and longitude coordinates, and are marked as G1 (lon)1，lat1)，G2(lon2，lat2)，......，GN(lonN，latN) (ii) a The course of N target ships is the true course and is recorded as alpha1，α2，......，αN(ii) a The navigational speeds of N target ships are recorded as V1， V2，......，VN；
Step 2, establishing a coordinate system
Establishing a rectangular coordinate system by taking the initial position of the tug as an origin O, a straight line which is parallel to the true meridian and passes through the origin O as a Y axis and a straight line which is perpendicular to the true meridian and passes through the origin O as an x axis, taking two points A1 and A2 in the rectangular coordinate system XOY, wherein the coordinate information of the points A1 and A2 is known, namely the rectangular coordinates of the points A1 and A2 are A1(x is x)1，y1)，A2(x2，y2) (ii) a The longitude and latitude coordinates of points a1 and a2 are a1 '(lon 1', lat1 '), a 2' (lon2 ', lat 2');
step 3, coordinate conversion
Two vectors A12 and A1i are formed by taking the point A1 as a starting point and A2 and Gi (i is more than or equal to 1 and less than or equal to N) as an end point, and the rectangular coordinate of the vector A12 is (dx)1，dy1) Longitude and latitude coordinates of (dlon)1，dlat1) (ii) a The rectangular coordinate of vector A1i is (dx)i，dyi) The longitude and latitude coordinates are (dlon)i，dlati) (ii) a Wherein dx is1＝x2-x1，dy1＝y2-y1；dlon1＝lon2′-lon1′，dlat1＝lat2′-lat1′； dxi＝xi-x1，dyi＝yi-y1；dloni＝loni′-lon1′，dlati＝lati′-lat1′；xiAnd yiCoordinates of the ith target ship in the rectangular coordinate system XOY;
the moduli of the vectors A12 and A1i in a rectangular coordinate system and a longitude and latitude coordinate system are k1, k2, k3 and k 4; then
Figure RE-GDA0003644337790000111
Figure RE-GDA0003644337790000112
According to the principle that the length ratio of the two vectors in different coordinate systems is the same and the included angle of the two vectors in different coordinate systems is not changed, the rectangular coordinates and the longitude and latitude coordinates of the vectors A12 and Ali can meet the following relations:
Figure RE-GDA0003644337790000121
according to the above formula, the coordinates x of the ith target ship in the rectangular coordinate system XOY can be obtainediAnd yi；
Step 4, dividing the sea area where the target ship is located
According to the initial rectangular coordinates Gi' (x) of all the target shipsi，yi) Taking the initial position coordinates of the tug as an origin, forming a circle containing all target ships, wherein the radius of the circle is R1, the radius of the circle is R1 is divided into four parts, then 3 circles are determined, the radii of the circles are R2, R3 and R4(R4 < R3 < R2 < R1), and the sea area where all the target ships are located is divided into 5 areas, namely an area I, an area II, an area III, an area IV and an area V;
step 5, classifying ships in various sea areas
Calculating the distance l between all the target ships and the initial position of the tugi：
Figure RE-GDA0003644337790000122
Comparison liThe relationships with R1, R2, R3, R4, classify the target vessel:
if liIf R4 is less than the area I, the target ship belongs to the area I;
if R4 < liIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < liIf R2 is less than the preset range, the target ship belongs to the area III;
if R2 < liIf R1 is less than the target ship, the target ship belongs to the IV area;
and counting the number of ships in each area as Nj(j is I to IV) satisfies
Figure RE-GDA0003644337790000123
And targets completed for the partitionThe ship renumbers Gjm(0＜m＜Nj)；
Step 6, primarily planning the tug route
The route planning of the tug of the multi-target ship in the j (j is I-IV) area is as follows:
6.1, position O of tugboatn(xｎ，yn) (N is 0. ltoreq. n.ltoreq.N-1) (Point O)nCoordinates are known) as a starting point, a shaft y' is established parallel to the y-axis and a point a is taken at a distance z on the shaft yn(xn，y′n) (y′n＝yn+z)；
6.2 at point OnAs a starting point, AnAnd GjmAs an end point, two vectors OA are formednAnd OGjmVector OAnHas rectangular coordinates of (0, z); vector OGjmHas a rectangular coordinate of (x)jm-xn，yjm-yn)；xjmAnd yjmFor the target ship GjmCoordinates in a rectangular coordinate system XOY;
6.3 calculating vector OGjmDie SjmThe formula is as follows:
Figure RE-GDA0003644337790000131
6.4 calculating two vectors OAnAnd OGjmAngle of (theta)jmThe formula is as follows:
Figure RE-GDA0003644337790000132
6.5 setting tug wheel edge betajmDirection, at speed V, for time t, at point B and target ship GjmMeeting; wherein beta isjmIs the running direction and vector OG of the tugjmThe included angle between them; the speed V is known and satisfies V ≧ { V ≧1，V2，......，VN}max；
6.6 calculating tug and target vessel GjmIs running distance HjmAnd FjmThe formula is as follows:
Hjm＝V*tjm
Fjm＝Vjm*tjm
6.7 for the target vessel GjmRunning course alpha ofjmAnd (4) judging: if 0 DEG < alphajm< 180 °, go to step 6.8; if 180 DEG < alphajmIf the angle is less than 360 degrees, executing step 6.9; if α isjmStep 6.10 is performed, either 0 ° or 360 °; if α isjmStep 6.11 is performed, 180 °;
6.8, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000141
wherein gamma isjm＝αjm-(θjm+βjm)，0°＜βjm＜αjm-θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000142
at 0 DEG < betajm＜αjm-θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.9, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000143
wherein, γjm＝180°-δjm-βjm，δjm＝180°-εjm-θjmIn which epsilonjm＝360°-αjmOf therefore gammajm＝360°+θjm-αjm-βjm， 0°＜βjm＜360°-αjm+θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000144
at 0 DEG < betajm＜360°-αjm+θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.10, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000145
wherein, γjm＝180°-δjm-βjm，δjm＝180°-θjmOf so isjm＝θjm-βjm， 0°＜βjm＜θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000151
at 0 DEG < betajm＜θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.11, angle βjmThe following equation is satisfied:
Figure RE-GDA0003644337790000152
wherein, γjm＝180°-δjm-βjm，δjm＝θjmOf so isjm＝180°-θjm-βjm， 0°＜βjm＜180°-θjm；
Simplifying to obtain:
Figure RE-GDA0003644337790000153
at 0 DEG < betajm＜180°-θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.12, carrying out reduction treatment on the number of the target ships: n ← N-1
Step 7, calculating the current positions of the remaining N target ships
In determining the movement of the tug from the current position to the target vessel GimShortest path ofRequired time tjmThereafter, N target ships G remainjn(0 < N < N) from an initial position Gjn(xjn，yjn) (position G)jnIs known) to the current position G'jn(x′jn，y′jn) The current position coordinates are calculated as follows:
7.1, for the target ship GjnSpeed of flight VjnThe decomposition is carried out to obtain the following equation system:
Figure RE-GDA0003644337790000154
wherein, Vjnx、VjnyRespectively, speed VjnComponents in the horizontal and vertical directions;
7.2、tjnafter the moment, the target ship GjnThe following travel distances were obtained:
Figure RE-GDA0003644337790000161
wherein S isjnx、SjnyAre respectively a target ship GjnAt t in the horizontal and vertical directionsjmThe distance of movement of the inner;
7.3 for the remaining N target ships GjnRunning course alpha ofjnAnd (4) judging: if alpha is less than or equal to 0 degreejn< 90 °, perform step 7.4; if the angle is less than or equal to alpha of 90 degreesjn< 180 °, perform step 7.5; if the angle is less than or equal to 180 degrees alphajn< 270 °, go to step 7.6; if the angle is less than or equal to 270 degreesjnLess than or equal to 360 degrees, executing the step 7.7;
7.4, angle τjnSatisfy τjn＝αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000162
7.5, angle τjnSatisfy τjn＝180°-αjnThen target ship G'jnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000163
7.6, angle τjnSatisfy τjn＝αjnAt-180 deg., the target vessel GjnCurrent position coordinate G'jn(x′jn，y′jn) In which
Figure RE-GDA0003644337790000164
7.7 angle τjnSatisfy τjn＝360°-αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure RE-GDA0003644337790000165
Step 8, judging and updating the sea area where the target ship is located
Calculating the remaining N target vessels GjnDistance l from initial position of tugi：
Figure RE-GDA0003644337790000171
Comparison of l'iAnd updating and iterating the classification of the original target ships in each region according to the relations among R1, R2, R3 and R4:
l'iIf Rj is less than Rj, the target ship belongs to the area I;
if R4 < l'iIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < l'iIf R2 is less than the preset range, the target ship belongs to the area III;
if R2 < l'iIf R1 is less than the target ship, the target ship belongs to the IV area;
l'iIf R4 is greater than the target ship, the target ship belongs to the V area;
updating the number of existing ships in each region to Ns(s is I to V) satisfies
Figure RE-GDA0003644337790000172
Step 9, judging path planning
Judging the number N of the remaining target ships: if N ≠ 0, then for the next target ship Gjm+1Planning a path, and executing the steps 6 to 9; if N is equal to 0, performing step 10;
step 10, intelligent obstacle avoidance planning
And (3) carrying out obstacle avoidance treatment on the primary path of the target ship, wherein the process is as follows:
and 10.1, establishing a grid map. Establishing a grid map for the area where the tug is located according to the initial starting position of the tug and the final positions of all target ships, wherein the range of the grid map covers the starting position and the final positions; the width of the grid is set to be 2-15 times the length of the hull.
10.2, marking the non-navigable area in the grid map. Firstly, synchronously providing information such as coordinates, sizes and the like of reefs and restricted navigation areas through an electronic chart, and occupying positions in a grid map; then, determining reefs and no-go areas near the primary path of the target ship; then, the obstacle is regularized by the primary expansion, and the secondary expansion is performed on the basis of the primary expansion, so that a safety distance is reserved. And finally, marking the non-navigable areas in the grid map.
And 10.3, planning a path near the non-navigable area by using an intelligent obstacle avoidance algorithm. And after the grid map with the obstacle markers is established, executing an intelligent obstacle avoidance algorithm. The intelligent obstacle avoidance algorithm adopts an A-x algorithm, so that the calculation efficiency is high, and the shortest path planning under the grid map can be realized under the guidance of a customized heuristic function.
The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be used, not restrictive; it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications belong to the protection scope of the present invention.

Claims (3)

1. A multi-target ship route planning method based on AIS data in a dynamic environment comprises the following specific steps:
step 1, obtaining AIS data of a target ship
The tug communicates with a target ship needing to be guided nearby through an AIS system of the tug, AIS data of the target ship are obtained, the number N (N is more than or equal to 2) of the target ship is counted, and the AIS data comprise the current position, the course and the speed of the target ship; the AIS data are as follows: the current positions of the N target ships are latitude and longitude coordinates, and are marked as G1 (lon)1，lat1)，G2(lon2，lat2)，……,GN(lonN，latN) (ii) a The course of N target ships is the true course and is recorded as alpha1，α2，……,αN(ii) a The navigational speeds of N target ships are recorded as V1，V2，……,VN；
Step 2, establishing a coordinate system
Establishing a rectangular coordinate system by taking the initial position of the tug as an origin O, a straight line which is parallel to the true meridian and passes through the origin O as a Y axis and a straight line which is perpendicular to the true meridian and passes through the origin O as an x axis, taking two points A1 and A2 in the rectangular coordinate system XOY, wherein the coordinate information of the points A1 and A2 is known, namely the rectangular coordinates of the points A1 and A2 are A1(x is x)1,y1)，A2(x2，y2) (ii) a The longitude and latitude coordinates of points a1 and a2 are a1 '(lon 1', lat1 '), a 2' (lon2 ', lan 2');
step 3, coordinate conversion
Two vectors A12 and A1i are formed by taking the point A1 as a starting point and A2 and Gi (i is more than or equal to 1 and less than or equal to N) as an end point, and the rectangular coordinate of the vector A12 is (dx)1，dy1) Longitude and latitude coordinates of (dlon)1，dlat1) (ii) a The rectangular coordinate of vector A1i is (dx)i，dyi) Longitude and latitude coordinates of (dlon)i，dlati) (ii) a Wherein dx is1＝x2-x1，dy1＝y2-y1；dlon1＝lon2′-lon1′，dlat1＝lat2′-lat1′；dxi＝xi-x1，dyi＝yi-y1；dloni＝loni′-lon1′，dlati＝lati′-lat1′；xiAnd yiCoordinates of the ith target ship in the rectangular coordinate system XOY;
the moduli of the vectors A12 and A1i in a rectangular coordinate system and a longitude and latitude coordinate system are k1, k2, k3 and k 4; then
Figure FDA0003576997690000021
Figure FDA0003576997690000022
According to the principle that the length ratio of the two vectors in different coordinate systems is the same and the included angle of the two vectors in different coordinate systems is not changed, the rectangular coordinates and the longitude and latitude coordinates of the vectors A12 and A1i can meet the following relations:
Figure FDA0003576997690000023
according to the above formula, the coordinates x of the ith target ship in the rectangular coordinate system XOY can be obtainediAnd yi；
Step 4, dividing the sea area where the target ship is located
According to the initial rectangular coordinates Gi' (x) of all the target shipsi，yi) Taking the initial position coordinates of the tug as an origin, forming a circle containing all target ships, wherein the radius of the circle is R1, the radius of the circle is R1 is divided into four parts, then 3 circles are determined, the radii of the circles are R2, R3 and R4(R4 < R3 < R2 < R1), and the sea area where all the target ships are located is divided into 5 areas, namely an area I, an area II, an area III, an area IV and an area V;
step 5, classifying ships in various sea areas
Calculating the distance l between all the target ships and the initial position of the tugi：
Figure FDA0003576997690000024
Comparison liThe relationships with R1, R2, R3, R4, classify the target vessel:
if li< R4, thenThe target ship belongs to the area I;
if R4 < liIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < liIf R2 is less than the area III, the target ship belongs to the area III;
if R2 < liIf R1 is less than the target ship, the target ship belongs to the IV area;
and counting the number of ships in each area as Nj(j ═ I to IV) and satisfy
Figure FDA0003576997690000031
And renumbering the sectored target vessel to Gjm(0＜m＜Nj)；
Step 6, primarily planning the tug route
The path planning of the j (i-iv) area for the tug of the multi-target ship is as follows:
6.1, position O of tugboatn(xn，yn) (N is 0. ltoreq. n.ltoreq.N-1) (Point O)nCoordinates are known) as a starting point, a shaft y' is established parallel to the y-axis and a point a is taken at a distance z on the shaft yn(xn，y′n)(y′n＝yn+z)；
6.2 at point OnAs a starting point, AnAnd GjmAs an end point, two vectors OA are formednAnd OGjmVector OAnHas rectangular coordinates of (0, z); vector OGjmHas a rectangular coordinate of (x)jm-xn，yjm-yn)；xjmAnd yjmFor a target vessel GjmCoordinates in a rectangular coordinate system XOY;
6.3 calculating vector OGjmDie SjmThe formula is as follows:
Figure FDA0003576997690000032
6.4 calculating two vectors OAnAnd OGjmAngle of (theta)jmThe formula is as follows:
Figure FDA0003576997690000033
6.5 setting tug wheel edge betajmDirection, at speed V, for time t, at point B and target ship GjmMeeting; wherein beta isjmIs the running direction and vector OG of the tugjmThe included angle between them; the speed V is known and satisfies V ≧ { V ≧1，V2，......，VN}max；
6.6 calculating tug and target vessel GjmIs running distance HjmAnd FjmThe formula is as follows:
Hjm＝V*tjm
Fjm＝Vjm*tjm
6.7 for the target vessel GjmRunning course alpha ofjmAnd (4) judging: if 0 DEG < alphajm< 180 °, go to step 6.8; if 180 DEG < alphajm< 360 °, go to step 6.9; if α isjmStep 6.10 is performed, either 0 ° or 360 °; if α isjmStep 6.11 is performed, 180 °;
6.8, angle βjmThe following equation is satisfied:
Figure FDA0003576997690000041
wherein gamma isjm＝αjm-(θjm+βjm)，0°＜βjm＜αjm-θjm；
Simplifying to obtain:
Figure FDA0003576997690000042
at 0 DEG < betajm＜αjm-θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.9, angle βjmThe following equation is satisfied:
Figure FDA0003576997690000043
wherein, γjm＝180°-δjm-βjm，δjm＝180°-εjm-θjmIn which epsilonjm＝360°-αjmOf so isjm＝360°+θjm-αjm-βjm，0°＜βjm＜360°-αjm+θjm；
Simplifying to obtain:
Figure FDA0003576997690000051
at 0 DEG < betajm＜360°-αjm+θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.10, angle βjmThe following equation is satisfied:
Figure FDA0003576997690000052
wherein, γjm＝180°-δjm-βjm，δjm＝180°-θjmOf so isjm＝θjm-βjm，0°＜βjm＜θjm；
Simplifying to obtain:
Figure FDA0003576997690000053
at 0 DEG < betajm＜θjmUnder the condition, find tjmObtaining the optimal path according to the minimum value of the data;
6.11, angle βjmThe following equation is satisfied:
Figure FDA0003576997690000054
wherein, gamma isjm＝180°-δjm-βjm，δjm＝θjmOf so isjm＝180°-θjm-βjm，0°＜βjm＜180°-θjm；
Simplifying to obtain:
Figure FDA0003576997690000055
at 0 DEG < betajm＜180°-θjmUnder the condition, find tjmObtaining the optimal path by the minimum value of the distance and the distance;
6.12, carrying out reduction treatment on the number of the target ships: n ← N-1;
step 7, calculating the current positions of the remaining N target ships
In determining the movement of the tug from the current position to the target vessel GjmTime t required for shortest route ofjmThereafter, N target ships G remainjn(0 < N < N) from an initial position Gjn(xjn，yjn) (position G)jnIs known) to the current position G'jn(x′jn，y′jn) The current position coordinates are calculated as follows:
7.1, for the target ship GjnSpeed of flight VjnDecomposing to obtain:
Figure FDA0003576997690000061
wherein, Vjnx、VjnyRespectively is the speed VjnComponents in the horizontal and vertical directions;
7.2、tjmafter the moment, the target vessel GjnThe following travel distances were obtained:
Figure FDA0003576997690000062
wherein S isjnx、SjnyAre respectively a target ship GjnAt t in the horizontal and vertical directionsjmThe inner movement distance;
7.3 for the remaining N target ships GjnRunning course alpha ofjnTo proceed withAnd (3) judging: if alpha is less than or equal to 0 degreejnIf the angle is less than 90 degrees, executing step 7.4; if the angle is less than or equal to alpha of 90 degreesjn< 180 °, perform step 7.5; if the angle is less than or equal to 180 degrees alphajn< 270 °, go to step 7.6; if the angle is less than or equal to 270 degreesjnLess than or equal to 360 degrees, executing the step 7.7;
7.4, angle τjnSatisfy τjn＝αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure FDA0003576997690000063
7.5, angle τjnSatisfy τjn＝180°-αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure FDA0003576997690000064
7.6, angle τjnSatisfy τjn＝αjnAt-180 deg., the target vessel GjnCurrent position coordinate G'jn(x′jn，y′jn) Wherein
Figure FDA0003576997690000071
7.7, angle τjnSatisfy τjn＝360°-αjnThen the target ship GjnCurrent position coordinate G'jn(x′jn，y′jn) In which
Figure FDA0003576997690000072
Step 8, judging and updating the sea area where the target ship is located
Calculating the remaining N target vessels GjnDistance l from initial position of tugi：
Figure FDA0003576997690000073
Comparison of l'iAnd updating and iterating the classification of the original target ships in each region according to the relations among R1, R2, R3 and R4:
l'iIf Rj is less than Rj, the target ship belongs to the area I;
if R4 < l'iIf R3 is less than the area II, the target ship belongs to the area II;
if R3 < l'iIf R2 is less than the area III, the target ship belongs to the area III;
if R2 < l'iIf R1 is less than the target ship, the target ship belongs to the IV area;
l'iIf the current position is more than R4, the target ship belongs to the V zone;
updating the number of existing ships in each region to Ns(s ═ I to V), satisfy
Figure FDA0003576997690000074
Step 9, judging path planning
Judging the number N of the remaining target ships: if N ≠ 0, then for the next target ship Gjm+1Planning a path and turning to the step 6; if N is equal to 0, go to step 10;
step 10, intelligent obstacle avoidance planning: and carrying out obstacle avoidance processing on the preliminary path of the target ship.
2. The AIS data-based multi-target vessel routing method in a dynamic environment as claimed in claim 1, wherein: the intelligent obstacle avoidance planning process of the step 10 is as follows:
10.1, establishing a grid map: establishing a grid map for the area where the tug is located according to the initial starting position of the tug and the final positions of all target ships, wherein the range of the grid map covers the starting position and the final positions; the width of the grid is set to be 2-15 times of the length of the ship body;
10.2, marking the non-navigable area in the grid map: firstly, synchronously providing information such as coordinates, sizes and the like of reefs and restricted navigation areas through an electronic chart, and occupying positions in a grid map; secondly, determining reefs and a no-go area near the primary path of the target ship; secondly, regularizing the barrier through primary expansion, and performing secondary expansion on the basis of the primary expansion to reserve a safety distance; finally, marking the non-navigable area in the grid map;
10.3, planning a route near the non-navigable area by using an intelligent obstacle avoidance algorithm: and after the grid map with the obstacle markers is established, executing an intelligent obstacle avoidance algorithm.
3. The AIS data-based multi-target vessel routing method in a dynamic environment as claimed in claim 2, wherein: the intelligent obstacle avoidance algorithm is an A-x algorithm.
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