Technical Research On Path Planning Of Integrated Bridge System

In order to reduce all kinds of heavy losses caused by incorrect operation,decrease workers'work pressure and increase the economic benefits, the Integrated Bridge System(IBS) develops gradually. This system includes many kinds of research contents, the ship path planning as a key technology refers the selfshipping and optimizing. Previously the ship path planning needed workers consulting the relevant maritime books and the path materials, analysising the circumstance like ocean currents, manually entering into the system. By this way it can not reflect the intelligence of the IBS. Considing the restriction and restrict of the traditional methods in the methods of ship path planning, this research through the known information of the sailing area, finishs the ship path planning by computer and control theory.Because when solves the complex problem, the dimension will be exploded and the time for caculating will be such long by using the pure mathematics method, this paper studies two intelligent algorithms——ant colony algorithm and genetic algorithm.Firstly, this paper introduces the basic theory of ant colony algorithm and genetic algorithm. Secondly, this paper introduces the modeling of ship sailing space, and makes some necessary processing of the fixed location obstacle zones. Obeying the IHO S-57 (the third edition) regulation, this paper extends the obstacle zones. The obstacle zones become ring after the extending, and inside the ring is not feasible, out of the ring is feasible. Based on the modeling of the ship sailing space, the paper improves some parameters of the two algorithms according to ship path planning. Finally, it realizes the optimal ship path planning by computer simulation. It puts forward the concept of yaw limit area and safe distance from the shore reef, ensuring the safe voyage. It also introduces the various factors affecting the weather route, and simulates different direction of the ocean current on ship path planning. It plays a part in the ship on energy saving and the economic efficiency improving.The basic path planning and the optimal path planning are all simulated by the software of Matlab. It can greatly improve the efficiency and accuracy comparing with the traditional manual method. And it is also flexible comparing with method by refering to the existing route chart. Through various simulation results it proves that using the intelligent algorithms, the speed is fast , it is convenient and flexible when realizing. The design can applied to different navigation environments.