Research On Dispatching Method Of Amphibious Unmanned Vehicles In Ship Cabin Considering Layout Optimization

The loading scheduling of amphibious unmanned vehicle belongs to the integrated support capability system of amphibious assault ship.The comprehensive support capability of amphibious assault ship is subject to multi-dimensional constraints of limited time,space and resources.This capability is the core embodiment of amphibious combat effectiveness system.The loading of amphibious unmanned vehicle is the first step of operation plan.The loading and dispatching ability of amphibious unmanned vehicles is the key to the dispatch of amphibious attack ships.This paper conducts in-depth analysis and research on the layout and scheduling part.The purpose is to provide theoretical guidance for further improving the loading and scheduling capacity of amphibious unmanned vehicles.Vehicle arrangement is regarded as the premise of studying vehicle loading scheduling capacity.Firstly,the constraints of the model are analyzed.The mathematical model of rectangular packing problem is established.The improved lowest horizontal line location algorithm is used as the layout rule of vehicle rectangle,which transforms the arrangement problem into a combinatorial optimization problem of solving the optimal arrangement sequence.The sequencing algorithm is designed to improve the genetic algorithm based on the three perspectives of population coevolution,dynamic adjustment of mutation probability and dynamic adjustment of population size to improve algorithm diversity and convergence speed.The simulation results show that the improved genetic algorithm reduces the average unutilized rate of deck area by 7.62% and 8.50%,respectively,compared with the traditional genetic algorithm and simulated annealing.When the environmental information is known,the path planning of a single vehicle is carried out.Vehicles are treated as particles.On the premise that the vehicle motion state is not considered,the grid method for environmental modeling of vehicle deck map information is considered.The mathematical model of path planning problem is constructed.The hop search algorithm is improved to reduce the path search time.The hop search algorithm is improved to reduce the path search time,the path length is reduced and the energy consumption is saved.The objective function based on minimum snap is further constructed.The inequality constraint based on corridor trajectory planning and the minimum snap method based on Bezier curve are used to optimize the path.The simulation results show that compared with the traditional jumping point search algorithm,the improved jumping point search algorithm reduces the search path time by 0.63 s on average.The path length reduces by 0.78 meters on average,and the optimized trajectory can avoid collision with obstacles.The multi vehicle path planning model and multi vehicle scheduling scheme are established.Ship stability is considered.Parallel scheduling based on balanced counterweight loading sequence diagram is adopted.Based on the improved JPS algorithm and the trajectory optimization based on the safety corridor,the trajectory and time of each vehicle from the vehicle door to the parking space are obtained.All vehicle paths are collected and placed in the same time dimension for conflict detection.Priority method is used to eliminate collision paths.The simulation results show that the use of multi-vehicle parallel scheduling reduces the total time of multi-vehicle serial scheduling by 85.04%.Vehicle loading scheduling time is effectively reduced.Ship dispatch capability has been improved.