METHOD AND SYSTEM FOR SHIP ROUTE PLANNING IN PIRATE REGION, ELECTRONIC DEVICE AND STORAGE MEDIUM

Title:

METHOD AND SYSTEM FOR SHIP ROUTE PLANNING IN PIRATE REGION, ELECTRONIC DEVICE AND STORAGE MEDIUM

Document Type and Number:

WIPO Patent Application WO/2023/045029

Kind Code:

A1

Abstract:

Disclosed are a method and system for ship route planning in a pirate region, an electronic device and a storage medium, which belong to the technical field of ship route planning. The method comprises the following steps: S1, performing cluster analysis on historical pirate activity points to construct a grid map of an obstacle region and a navigable region; S2, randomly scattering points in the grid map, then connecting nodes by means of a local planner to form a route network graph; S3, connecting the start point and end point of a ship route with a route map, and searching for an initial route from the start point to the end point of the ship route by means of an A* search algorithm; S4, extracting key nodes in initial route nodes, connecting the key nodes to form an optimized route containing fewer inflection points; and S5, performing smoothing on the optimized route containing fewer inflection points to obtain a smoothed optimized route. The present invention uses the PRM algorithm to perform ship route planning, thus increasing the utilization of sampling points, reducing the number of nodes on an original route, reducing route length and increasing the smoothness of a route.

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Inventors:

MA YONG (CN)
LIU CHENGLI (CN)

Application Number:

PCT/CN2021/127996

Publication Date:

March 30, 2023

Filing Date:

November 01, 2021

Export Citation:

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Assignee:

UNIV WUHAN TECH (CN)

International Classes:

G05D1/02

Domestic Patent References:

WO2018120489A1

2018-07-05

Foreign References:

CN110220514A	2019-09-10
CN113110507A	2021-07-13

Other References:

WEI, NIANWEI: "Method of PRM Path Optimization Based on Key Nodes and Smooth Processing", COMPUTER ENGINEERING AND APPLICATIONS, HUABEI JISUAN JISHU YANJIUSUO, CN, vol. 56, no. 16, 1 January 2020 (2020-01-01), CN , pages 118 - 123, XP093055890, ISSN: 1002-8331, DOI: 10.3778/j.issn.1002-8331.1905-0442
LIU YANG, ZHANG WEI-GUO, LI GUANG-WEN: "Study on path planning based on improved PRM method", APPLICATION RESEARCH OF COMPUTERS, CHENGDU, CN, vol. 29, no. 1, 31 January 2012 (2012-01-31), CN , pages 104 - 106, XP009544911, ISSN: 1001-3695, DOI: 10.3969/j.issn.1001-3695.2012.01.029