Research On Navigational Decision-making Analysis And Path Planning Algorithm For Intelligent Ship

With the continuous development of global trade,marine transportation plays an increasingly important role in global cargo turnover.However,the traditional marine transportation industry has also revealed more and more problems in the process of cargo transportation,such as environmental pollution,frequent navigational accidents and rising labor costs.Through the analysis of all related issues,it can be found that most of the problems are caused by human factors.So more and more researches focus on the development of intelligent ships to replace traditional ships and their operating methods.At the same time,the development of digital equipment and technologies including big data,information technology and other disciplines have provided technical support and theoretical foundation for related research on intelligent ships.Aiming at the advantages of intelligent ship and problems in the traditional ship operation process,methods such as risk factor identification and evaluation,ship motion and encounter situation modeling and analysis as well as simulation were adopted to construct the intelligent ship risk control system,analyze collision avoidance decision-making and study the path planning algorithm.Finally,the visualization of the intelligent ship risk control system and path planning is realized.The main research contents are as follows:（1）The construction of intelligent ship risk control system.Based on the statistical analysis of China’s inland ship navigation accident reports,the text mining method was used to mine the risk factors of inland ship navigation.Based on the mining risk factors,the navigation risk factor variables applicable to the intelligent ship are selected,and the intelligent ship’s navigational risk factor assessment is completed based on the association rules mining.Finally,the corresponding risk control decisions are proposed for the most important influencing factors to realize the construction of intelligent ship risk control system.（2）Research on intelligent ship collision avoidance decision-making.Based on the intelligent ship motion model and identification of different encounter situations and collision phases in ship domain,a motion model of intelligent ships in different encounter situations and different collision phases is constructed.Time to the closest point of approach and distance to the closest point of approach of different collision avoidance measures in the collision phase are used to obtain suitable collision avoidance schemes in different situations and different stages.Finally,the effectiveness of the collision avoidance decision is verified through simulation.（3）Research on intelligent ship path planning algorithm.Based on the traditional A * algorithm,taking the ship’s navigational environment,ship motion characteristics and handling performance into account,the search range and steering pattern of traditional A * algorithm are optimized to make it more consistent with the actual navigation status of intelligent ships and the planned path is smoother.Based on the real intelligent ship “Qiu Xin”,a suitable segment in Changjiang River is selected for simulation on Electronic Chart Display and Information System to verify the effectiveness of the improved algorithm.Secondly,through the integration and processing of various navigation aid data,the risk control system and path planning of the intelligent ship are visualized into a complete visualization system.