船舶的动态协同路径规划是船舶安全航行的重要保证。本文对多船舶交汇且航线上存在障碍物情况下的船舶动态路径规划进行研究，对动态协同路径规划进行数学描述，使用模拟退火算法、遗传算法对静态路径规划进行仿真，并对仿真结果进行对比和分析。提出多船交汇的协同策略，以两船交汇动态协同路径规划为例进行仿真研究。结果表明，2种算法均可实现船舶路径规划，在多船交汇时船舶能够按照规划的路线主动转向，并最终实现安全航行。
Ship dynamic cooperative path planning is an important guarantee for ship safe navigation. In this paper, ship dynamic path planning under the condition of multi-ship intersection and obstacles on the route is studied, dynamic collaborative path planning is described mathematically, simulated annealing algorithm and genetic algorithm are used to simulate static path planning, and the simulation results are compared and analyzed. The collaborative strategy of multi-ship intersection is proposed, and the simulation research is carried out by taking the dynamic collaborative path planning of two-ship intersection as an example. The results show that both algorithms can realize the ship path planning, and the ship can actively turn according to the planned route when multiple ships meet, and finally achieve safe navigation.
2024,46(19): 161-164 收稿日期：2024-4-29
DOI：10.3404/j.issn.1672-7649.2024.19.029
分类号：U667.65
作者简介：习凤(1988-),女,硕士,讲师,研究方向为物流工程技术
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