| With the rapid development of offshore wind power,the navigation environment has become more complex and changeable in Yancheng sea area.The offshore wind farms occupy a large area.That situation greatly increases the complexity of ship navigation,it also poses safety hazards to ship navigation.In order to solve the problems of ship navigation and safety supervision,a research is carried out that is about ship navigation path planning in the waters of offshore wind farms.It is of positive practical significance to study the ship path planning.Research results can manage and improve navigation efficiency,reduce the risk of navigation.Firstly,this paper analyzes the construction of offshore wind farms and the ship’s navigation environment.The environment model of hydraulic facilities is established.Taking the offshore wind power cluster in Yancheng,Jiangsu as the research object,the navigation environment is analyzed,including natural environment,traffic environment and hydraulic facilities.Based on the navigable environment characteristics,the distribution of wind farms and the general situation of ship traffic flow can be obtained.In order to study the path planning of this jurisdiction,an environmental model of hydraulic facilities is established.Taking the Dafeng intertidal wind power as an example,Matlab software is used to display the simplified environmental model of the offshore wind farm.Secondly,a safe distance model is established for the navigation of the wind turbine platform.The model is based on the navigation conditions of offshore wind farms water.Based on the ship domain theory,this paper establishes a ship domain model under the action of wind flow and pressure difference.According to this model,the safe navigable distance model can be obtained,when the ship is under normal navigation.The runaway drift motion is analyzed on runaway drift theory.The corresponding minimum safe distance model is established when ship is under the runaway drift state.Combining the above two models,a ship safety distance model is established,which can obtain the navigation safety distance of the ship which is under the normal or abnormal navigation action.The numerical value of the representative ship type in the above three-fold model in the water area is calculated and analyzed by MATLAB.This part research provides a reliable calculation reference for the path planning in the wind power group area.It also improves the navigation efficiency of ships in the water of offshore wind farms.Thirdly,in order to solve the path planning problem in this water area,this part analyzes the basic principles of the A* path planning algorithm.This paper also improved the algorithm in a number of ways,including the use of hybrid search strategies,objective functions and optimization of key inflection points.These ways greatly improved the algorithm’s path-finding efficiency and solved the problem of the path fitting the edge of obstacles which included offshore wind farms and channels.In order to make the improved method more suitable for the navigation characteristics of offshore wind farms,some navigation parameters,such as water depth,are added to the algorithm.The part simulated the water area of the offshore wind power group in Yancheng area.The improved A* algorithm uses the grid method to model the path planning environment.A global path planning simulation of ship is carried out for the offshore wind farm area.Simulation results verify the effectiveness of the improved A* algorithm.This paper provides a global path planning model for ships in the water of wind power.The model calculates a safe and feasible planned route.Finally,some supervisory countermeasures of offshore wind farms are proposed in various aspects,which are based on the current management situation and the characteristics of ship navigation in Yancheng offshore wind farm area.It mainly includes strategies at the level of ship navigation safety and modern technical means.These ways’ target is to keep the safety of the wind power operation and ship navigation.Research results have scientific reference value and practical guiding significance,which is in the terms of path planning and offshore wind farms’ preliminary site selection. |
