Ship Motion Planning for MASS Based on a Multi-Objective Optimization HA* Algorithm in Complex Navigation Conditions
| العنوان: | Ship Motion Planning for MASS Based on a Multi-Objective Optimization HA* Algorithm in Complex Navigation Conditions |
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| المؤلفون: | Miao Gao, Meiyi Wu, Anmin Zhang, Jiali Zhang |
| المصدر: | Journal of Marine Science and Engineering, Vol 9, Iss 1126, p 1126 (2021) Journal of Marine Science and Engineering Volume 9 Issue 10 |
| بيانات النشر: | MDPI AG, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | Computer science, Naval architecture. Shipbuilding. Marine engineering, Process (computing), VM1-989, Ocean Engineering, Energy consumption, Kinematics, GC1-1581, motion planning, MASS, Collision, Oceanography, Multi-objective optimization, complex navigation conditions, multi-objective optimization, Path (graph theory), Motion planning, Algorithm, Water Science and Technology, Civil and Structural Engineering, Electronic navigational chart |
| الوصف: | Ship motion planning constitutes the most critical part in the autonomous navigation systems of marine autonomous surface ships (MASS). Weather and ocean conditions can significantly affect their navigation, but there are relatively few studies on the influence of wind and current on motion planning. This study investigates the motion planning problem for USV, wherein the goal is to obtain an optimal path under the interference of the navigation environment (wind and current), and control the USV in order to avoid obstacles and arrive at its destination without collision. In this process, the influences of search efficiency, navigation safety and energy consumption on motion planning are taken into consideration. Firstly, the navigation environment is constructed by integrating information, including the electronic navigational chart, wind and current field. Based on the environmental interference factors, the three-degree-of-freedom kinematic model of USVs is created, and the multi-objective optimization and complex constraints are reasonably expressed to establish the corresponding optimization model. A multi-objective optimization algorithm based on HA* is proposed after considering the constraints of motion and dynamic and optimization objectives. Simulation verifies the effectiveness of the algorithm, where an efficient, safe and economical path is obtained and is more in line with the needs of practical application. |
| وصف الملف: | application/pdf |
| اللغة: | English |
| تدمد: | 2077-1312 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1886e97e58b2c45929bc2570eee6e83f https://www.mdpi.com/2077-1312/9/10/1126 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....1886e97e58b2c45929bc2570eee6e83f |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 20771312 |
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