Research On USV Global Path Planning Method Based On Wind Flow Field Distribution Characteristics

As an important carrier platform for conducting marine science exploration and research,the path planning for navigation of unmanned surface vessel is one of the main core research elements.In particular,the influence of wind flow environment on the path is considered in the global path planning.In this paper,we focus on the completion of global path planning for unmanned surface boats in the ocean wind current environment,and achieve the ultimate optimization goal of avoiding obstacles while reducing navigation energy consumption in the navigation process.The complex marine environment modeling,comprehensive environmental vector field construction and the impact on navigation and practical application requirements are studied respectively to provide theoretical support for meeting the intelligent navigation requirements of unmanned surface boats in the future,mainly as follows:(1)Modeling of the marine environment and construction of the underlying obstacle model.Acquire real marine environment information through electronic nautical charts and construct global planning environment maps.Combining FMM and FMS to construct the base obstacle environment model,the base obstacle environment layer is obtained by vectorization method to reflect the influence of static obstacles on navigation routes.(2)Integrated vector field environment construction and planning path generation impact model construction.Constructing a vector map of the flow field environment by generating isotropic power spectra through FMM using statistical analysis data on the wind flow environment from the National Ocean Science Data Center and the Global Forecast System;Initializing and weighting the two to synthesize the wind flow environment vector field;Weighted calculation with the base obstacle environmental layer to obtain the integrated environmental vector field;Consider the influence of ocean wind current environment on ship navigation,establish the mathematical model of the influence of ship safety navigation under wind current environment,and complete the global path planning research.(3)Global path planning and experimental analysis based on multilayer fast marching method.The integrated environmental vector field in the simulated marine environment by multi-layer fast marching method to complete the path planning,combined with the planning route evaluation function to compare the algorithm with the FMM and FMS algorithms.The results show a reduction of 18.9% and 22.7% in sailing time and 10.03% and 13.77% in energy costs,respectively;After completing the experimental analysis for the secondary optimization of the path,combined with the wind flow environment on the influence of the navigation path model to establish the determination field.Determining and obtaining weight values for the degree of influence of the base obstacle and wind flow environment in the synthetic vector field,and determining the weight distribution in the three cases;In summary,this paper solves the problem of low spatial attitude adjustment efficiency of the posture adaptive rescue robot during rescue operations,and provides theoretical guidance and technical support for the realization of fully automatic and efficient ballast control in the future.The path generated by this can ensure that the ship is consumed at a smaller energy and sails within the safe range of the shortest distance from the obstacle.After completing the multi-layer fast travel method,the planning path is optimized after the analysis of the planning path.According to the impact of the romantic environment on the navigation path,the field of judgment fields is established on the impact of basic obstacles in the synthetic vector field and the weight of the romantic environment.The weight distribution of the three situations of low obstacles and high-flow environment,and finally adds the feasibility and rationality of the algorithm in the field of determination through simulation test verification.Comparing the MFM with the MFM with the added judgment field using simulation tests,The results show a 6.4% and 5.82% reduction in total energy consumption and sailing time,respectively.It is verified that the algorithm is able to ensure that the ship consumes less energy and navigates within a safe range at the shortest distance from the obstacle.