考虑极地船舶航行风险的A^(*)路径规划算法  

Risk-A^(*)path planning algorithm for Arctic shipping

作　　者：张金奋[1,2,3] 王志康 吴达 韩冰 ZHANG Jinfen;WANG Zhikang;WWU Da;HAN Bing(National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,Hubei;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,Hubei;Academician Workstation of China COSCO Shipping Group,Shanghai 200137,China)

机构地区：[1]武汉理工大学国家水运安全工程技术研究中心,湖北武汉430063 [2]武汉理工大学智能交通系统研究中心,湖北武汉430063 [3]中国远洋海运集团有限公司院士工作站,上海200137

出　　处：《中国航海》2024年第2期19-24,共6页Navigation of China

基　　金：国家重点研发计划(2021YFC2801005);国家自然科学基金项目(51920105014,52071247);福建省自然科学基金(2022J01131710);广西重点研发计划项目(AB23026132)。

摘　　要：传统A^(*)算法没有考虑海冰带来的航行风险因素,无法直接应用于北极船舶路径规划。针对这一问题,引入极地航行限制评估风险指标系统(POLARIS)风险模型,通过分析网格化的海冰密集度和海冰厚度数据,建立北极通航风险模型,制作航行风险地图,从添加风险损失函数和优化启发函数两个方面改进传统A^(*)算法,提出Risk-A^(*)路径规划算法,实现风险和效率不同偏好下的最优航线规划。仿真结果表明:Risk-A^(*)路径规划算法在航线长度、穿过风险水域的数量等方面与传统算法相比具有较大的优势,可为船舶北极航行提供安全高效的路径。The traditional A^(*)algorithm does not take into account the navigation risk factors brought by sea ice and cannot be directly applied to the Arctic ship path planning.To solve this problem,this paper introduces the POLARIS risk model,builds the Arctic navigation risk model and navigation risk map by analyzing the gridded sea ice density and sea ice thickness data,improves the traditional A^(*)algorithm by adding risk function and optimizing heuristic function,and proposes Risk-A^(*)path planning algorithm to achieve the optimal route planning under different preferences of risk and efficiency.The simulation results show that Risk-A^(*)path planning algorithm has greater advantages over traditional algorithms in terms of route length,number of risk waters crossed,etc.,and can provide safe and efficient routes for ships navigating in the Arctic.

关 键 词：路径规划 海冰密集度 A^(*)算法 极地航行限制评估风险指标系统 通航风险 

分 类 号：U698.2[交通运输工程—港口、海岸及近海工程]