Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization
In order to solve the problem that it is difficult to combine path planning with navigation rules in the process of multi-ship collision avoidance in wide waters, a step-by-step multi-ship collision avoidance path planning algorithm is proposed in this paper. Firstly, the obstacle ship is regarded a...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/5360674 |
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| author | Canglong Zhao |
| author_facet | Canglong Zhao |
| author_sort | Canglong Zhao |
| collection | DOAJ |
| description | In order to solve the problem that it is difficult to combine path planning with navigation rules in the process of multi-ship collision avoidance in wide waters, a step-by-step multi-ship collision avoidance path planning algorithm is proposed in this paper. Firstly, the obstacle ship is regarded as a static obstacle, and the static path planning is carried out by using the particle swarm optimization path planning algorithm in polar coordinate space combined with the field of ship safety to obtain the turning point of ship collision avoidance. Then, the steering angle of the steering point is dynamically corrected by using the navigation rules. The experimental results show that the particle swarm optimization algorithm finds an optimal path in about 35 iterations, and the shortest path is 38.4 n miles. Conclusion. The algorithm can solve the problem of multi-ship collision avoidance path planning and provide a new idea for solving the problem of multi-ship collision avoidance. |
| format | Article |
| id | doaj-art-63dcb95428a1491fb0cc47c8a45e2627 |
| institution | Kabale University |
| issn | 1687-5257 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-63dcb95428a1491fb0cc47c8a45e26272025-02-03T06:11:55ZengWileyJournal of Control Science and Engineering1687-52572022-01-01202210.1155/2022/5360674Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm OptimizationCanglong Zhao0Jiangsu Shipping CollegeIn order to solve the problem that it is difficult to combine path planning with navigation rules in the process of multi-ship collision avoidance in wide waters, a step-by-step multi-ship collision avoidance path planning algorithm is proposed in this paper. Firstly, the obstacle ship is regarded as a static obstacle, and the static path planning is carried out by using the particle swarm optimization path planning algorithm in polar coordinate space combined with the field of ship safety to obtain the turning point of ship collision avoidance. Then, the steering angle of the steering point is dynamically corrected by using the navigation rules. The experimental results show that the particle swarm optimization algorithm finds an optimal path in about 35 iterations, and the shortest path is 38.4 n miles. Conclusion. The algorithm can solve the problem of multi-ship collision avoidance path planning and provide a new idea for solving the problem of multi-ship collision avoidance.http://dx.doi.org/10.1155/2022/5360674 |
| spellingShingle | Canglong Zhao Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization Journal of Control Science and Engineering |
| title | Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization |
| title_full | Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization |
| title_fullStr | Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization |
| title_full_unstemmed | Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization |
| title_short | Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization |
| title_sort | step by step multi ship collision avoidance navigation path planning based on particle swarm optimization |
| url | http://dx.doi.org/10.1155/2022/5360674 |
| work_keys_str_mv | AT canglongzhao stepbystepmultishipcollisionavoidancenavigationpathplanningbasedonparticleswarmoptimization |