Design Of Unmanned Vessel Sea Route Planning For COLREGs

China has more than 3 million square kilometers of marine land resources.With the gradual shift of national strategic resources to the development of the ocean,the research of UAV technology based on the complex working environment of the ocean has gradually become a hot research direction.Through the previous research and experiment,this paper establishes the autonomous path problem of unmanned ship as the main direction of work.Based on this background,this paper will introduce the International Maritime Collision Avoidance Rules(COLREGs)to standardize the obstacle avoidance of unmanned vessels,and use PSO algorithm to carry out off-line path planning and on-line path planning for unmanned vessels respectively.Finally,a method of unmanned ship maritime path planning under COLREGs rule is proposed.Firstly,we briefly introduce the background of unmanned aerial vehicle(UAV),and summarize the research work of UAV at home and abroad in recent years.Previous research work focused on the research of path planning related technologies.In the follow-up work,we made a detailed study and analysis of the current domestic and foreign research status of common unmanned ship path planning algorithms,and finally decided to choose particle swarm optimization algorithm for in-depth analysis of path planning.Next,this paper will make a thorough study of UAV environment modeling algorithm,build the geometric model of UAV and obstacles in polar coordinates,and put forward the concept of UAV collision risk,which can be used to judge whether UAV should implement obstacle avoidance strategy.Then,the international maritime collision avoidance rules(COLREGs)are introduced to classify the unmanned ship obstacle avoidance at sea into four situations,and the application instructions of these four situations are defined,and the model of unmanned ship obstacle avoidance at sea based on COLREGs is established.For the off-line route planning of unmanned ship,this paper will focus on the principle of standard PSO algorithm and build the basic algorithm model.The algorithm is analyzed in detail,and an improved scheme is proposed to overcome the shortcomings of the particle swarm optimization algorithm.It is defined as a PSO algorithm that increases the potential factor and improves the position component.Later experimental data show that the improved PSO algorithm does not converge quickly and is not easy to fall into local extremum.Aiming at the path planning of unmanned ship in online mode,this paper chooses to use PSO algorithm under COLREGs rule for the online path planning of unmanned ship.According to COLREGs rules,the obstacle avoidance measures that unmanned ships should take when encountering moving obstacles are calculated and analyzed,that is,"head-on","crossing" or "overtaking".Finally,aiming at the off-line path planning and on-line path planning of unmanned ship,a global path planning method based on PSO algorithm and COLREGs rules is proposed.The algorithm can plan an optimal path according to the known environmental information.If the unmanned ship encounters moving obstacles in the course of navigation,it can adopt an appropriate obstacle avoidance strategy according to COLREGs rules.The simulation results with MATLAB show that the algorithm can solve the path planning problems with dynamic obstacles and other common path planning problems,and has good effectiveness and feasibility.