Research And Design Of Routing Algorithm For Offshore Exploration Design

Offshore oil exploration is different from onshore oil exploration.Offshore oil exploration uses tugboat for submarine cable arrangement,and it is necessary to plan the channel line of the towline in advance.This planning process relies on the wiring design algorithm in the oil exploration software.Compared with the mature offshore exploration and design software in foreign countries,the domestic marine exploration and design started relatively late,and there are obvious deficiencies in the layout design of offshore towing vessels.These disadvantages mainly include: tugboat’s channel line crosses the coastline in the process of turning around,tugboat’s obstacle avoidance effect in single channel path planning algorithm is poor,and the manual method of delineating the coastline in the marine exploration software is inefficient.In view of the above problems,the specific research contents of this paper are as follows:(1)Aiming at the problem that there is no automatic coastline description function in the offshore exploration software,this thesis adopts the coastline identification method based on the U-Net network model.The model is mainly divided into three parts: the main feature extraction part,the enhanced feature extraction part,and the prediction result part,which are used to extract image features,fuse feature information,and obtain prediction results.(2)Aiming at the problem of poor obstacle avoidance effect of streamers in the single channel path planning algorithm in the offshore exploration and design software,this thesis uses the probabilistic roadmap(PRM)path planning algorithm based on collision detection as the main part of the towline one-way path planning algorithm,and adds the calculation method of the starting point and end point based on the bounding box model,Path optimization algorithm and inscribed circle curve smoothing algorithm.These algorithms jointly realize the one-way path planning of the towed ship.function.(3)In view of the problem that the U-turn curve crosses the coastline in the channel line in the offshore exploration design software,this thesis adopts the Dubins curve as the main body of the U-turn algorithm,and adds the collision detection part,and finally obtains the complete U-turn curve of the streamer.The research and experiments show that the coastline recognition algorithm based on U-Net network proposed in this paper can obtain accurate coastline recognition results in satellite images.The PRM path planning algorithm based on collision detection solves the problem of the one-way path planning algorithm of the streamer in the current software.The Dubins U-turn algorithm based on collision detection provides an excellent solution to the problem of turning the course line.