水库库容无人船自动巡航路径规划算法与仿真实验  

Automatic Cruise Path Planning Algorithm and Simulation Experiment for Reservoir Capacity with Unmanned Boats

作　　者：吴健 何良 曹晓桢 WU Jian;HE Liang;CAO Xiaozhen

机构地区：[1]长江水利委员会水文局长江下游水文水资源勘测局,南京210011

出　　处：《科技创新与应用》2024年第30期12-15,共4页Technology Innovation and Application

摘　　要：该文主要探究水库库容无人船自动巡航最短路径的规划算法,并对算法应用效果进行仿真验证。使用模拟退火算法可以基于补测点寻找最短路径,但是循环次数较多、耗时较长;通过补测点聚类处理,将补测点分成若干点簇后再次寻找最短路径,耗时明显变短,但是仍然存在不同点簇之间路径差值较大的问题。使用点簇调整算法后,保证不同点簇之间的最短路径相近,达到降低能耗和提高效率的目的。仿真结果表明,在点簇调整后,3个点簇最短路径的差值从70398.48 m变为15356.29 m,在多艘无人船自动巡航路径规划中达到能耗均衡、精度较高的效果。This paper mainly explores the shortest path planning algorithm for automatic cruising of unmanned ships in reservoir storage capacity,and carries out simulation verification to the application effect of the algorithm.Using the simulated annealing algorithm,the shortest path can be found based on the supplementary measurement points,but the number of cycles is large and the time is long.Through the supplementary measurement point clustering process,the supplementary measurement points are divided into several point clusters and then the shortest path is found again,which takes a significantly shorter time.However,there is still a problem of large path differences between different point clusters.After using the point cluster adjustment algorithm,the shortest paths between different point clusters are ensured to be similar,achieving the purposes of reducing energy consumption and improving efficiency.The simulation results show that after the adjustment of the point clusters,the difference between the shortest paths among the three point clusters changes from 70398.48 m to 15356.29 m,which achieves balanced energy consumption and high accuracy in the automatic cruise path planning of multiple unmanned ships.

关 键 词：无人船 自动巡航路径规划 模拟退火算法 聚类算法 最短路径 

分 类 号：U664.82[交通运输工程—船舶及航道工程]