一种严密的舰艇最短距离航线高效规划方法  

Automatic Route Planning for Ship with High Tightness and Efficiency

作　　者：戴泽源 周寅飞 张立华[1,2] 贾帅东[1,2] 吴迪 DAI Zeyuan;ZHOU Yinfei;ZHANG Lihua;JIA Shuaidong;WU Di(Department of Military Oceanography and Hydrography&Cartography,Dalian Naval Academy,Dalian 116018;Key Laboratory of Hydrographic Surveying and Mapping of PLA,Dalian Naval Academy,Dalian 116018)

机构地区：[1]海军大连舰艇学院军事海洋与测绘系,大连116018 [2]海军大连舰艇学院海洋测绘工程军队重点实验室,大连116018

出　　处：《舰船电子工程》2025年第3期43-49,共7页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:41871369,41901320,41774014)资助。

摘　　要：针对当前舰船航线自动规划方法在顾及多海图融合碍航区时无法兼顾结果严密性与计算效率的不足,提出一种基于自适应三角网模型的舰船航线规划方法。首先,从自由空间理论出发,提取海图中的空间填充点,结合融合碍航区数据边界构建自适应约束三角网,降低空间复杂度;然后,在划分后的自由空间中构建网络图,考虑数据量对航线规划算法带来的影响,采用改进的双向A*算法提升航线自动规划的效率;最后,针对空间划分在航程上带来的客观误差,以测线避碰思想为基础,采用“拐点”算法对航线进行平滑优化,提高航线规划结果的准确性。实验结果表明:所提方法吸纳了现有方法的优势思想,能够实现基于高精度真实地物的航线自动规划,且在保证航程误差高度可控的基础上,算法效率有了很大提升,拓展了航线规划算法的适用性。Due to the limitations of the existing methods that with weak tightness and efficiency when using multiple charts fused obstacle data,a method for automatically route planning for ship based on adaptive and constrained Delaunay triangulation is proposed.First,from the perspective of free space theory,the spatial filling points and the boundary of obstacles is extracted from charts,and the adaptive and constrained Delaunay triangulation is constructed to reduce the complexity of space.Next,the network map is constructed,and an improved Bidirectional A*algorithm is proposed to reduce the impact of data volume on the route plan-ning algorithm.Finally,considering the possible precision error of the method above in route distance,an"inflection point"algo-rithm is proposed to smoothing and optimizing the route.The experimental results demonstrate that the proposed method absorb the advantages of the existing methods,and can generate the route between two arbitrary points at sea based on high-precision geograph-ic information.Besides,with a controllable error,the proposed method with more efficiency than that for the existing methods,ex-panding the applicability of this method.

关 键 词：自适应三角网 航线规划 自由空间 改进A*算法 拐点算法 

分 类 号：U697[交通运输工程—港口、海岸及近海工程]