Research on safety path planning for ship navigation based on EGA2CO algorithm

Abstract

Abstract For solving the problem that only the path length is considered in the traditional ship navigation path planning,the EGA2CO algorithm is proposed with the rasterize map as simulation background.Firstly, to solve the problems of "oblique wall penetration" and inconsistent time steps, a hexagonal raster is used to draw the simulation map; then, the scale and parameters of the GA algorithm are determined by setting the evolution rate based on the elite genetic algorithm (EGA); secondly, the heuristic function and pheromone update strategy adapting the raster map are designed to construct the Ant Colony Optimization (ACO) algorithm; finally, the EGA2CO algorithm is constructed using the optimal fusion point strategy, and the evaluation functions comprised of path economy and safety are designed.The simulation results show that when EGA2CO is used for path planning, its search speed and convergence speed are significantly improved, and the obtained paths can effectively avoid obstacles, which can effectively improve the safety of the navigation path on the basis of ensuring the economy of the ship's navigation path.