﻿ 多航道下船舶最佳导航路线选择方法
 舰船科学技术  2023, Vol. 45 Issue (11): 151-154    DOI: 10.3404/j.issn.1672-7619.2023.11.031 PDF

The optimal navigation route selection method for ships in multi - channel
LANG Bin-chao
Tianjin Aids to Navigation Division, Northern Navigation Service Center, Maritime Safety Adminstration, People's Republic of China, Tianjin 300456, China
Abstract: To reduce the navigation cost of ships, a method for selecting the optimal navigation route of ships under multi channel conditions is studied. Combining the factors of effective width, height, wind direction, wind speed, and water flow velocity for ship navigation in multiple channels, the equivalent length of each channel is solved to obtain the path length of each channel. Combined with the Dikstra algorithm, the shortest navigation route is selected by labeling each navigation node; And introduce the minimum turning angle of the navigation route to improve the Dikstra algorithm, achieving more accurate selection of the optimal navigation route for ships. Analyzing the experimental results, it can be concluded that under different initial node settings, this method can quickly calculate the equivalent length of each waterway route and select the appropriate route at a faster speed. The navigation route selected for each node can achieve the minimum turning angle and shortest path, and ensure that the ship achieves the minimum energy consumption while driving on the selected route
Key words: multi-channel     the best navigation route     dikstra     shortest path     equivalent length     minimum steering angle
0 引　言

1 船舶最佳导航路线选择 1.1 多航道下导航路线当量计算

 ${\alpha _k}\left( {{E_{ij}}} \right) = \left[ {T\left( {{E_{ij}}} \right) - t\left( {{E_{ij}}} \right)} \right]/t\left( {{E_{ij}}} \right)。$ (1)

 $\alpha \left( {{E_{ij}}} \right) = {\alpha _1}\left( {{E_{ij}}} \right) + {\alpha _2}\left( {{E_{ij}}} \right) + \cdots {\alpha _5}\left( {{E_{ij}}} \right) 。$ (2)

 ${L_d} = {L_s} \times \left[ {1 + \alpha \left( {{E_{ij}}} \right)} \right]。$ (3)

1.2 基于迪克斯特拉（Dijstra）算法最短路径选取

Dijstra算法是一种最短路径搜索算法，该算法应用贪心策略，对两点之间的最短路径进行寻优。该算法假设每一点均存在一对标号 $\left( {{d_j},{p_j}} \right)$ ，其中， ${d_j}$ 是指起始点 $s$ 到目的地 $j$ 的最短路径长度，而从 $s$ $j$ 的最短航线内的前一点为 ${p_j}$ ，通过如下过程，求解起始点 $s$ 到目的地 $j$ 的最短航线。

 ${d_j} = \min \left\{ {{d_j},{d_k} + {L_{kj}}} \right\} 。$ (4)

 ${d}_{i}=\mathrm{min}\left\{{d}_{j},所有未标记的点j\right\} 。$ (5)

1.3 基于改进Dijstra算法的船舶最佳导航路线选择 1.3.1 导航路线数据存储与初始化

1）标记节点集

2）待选择节点

1.3.2 最佳导航路线选择实现

 ${u_1} = \frac{{y - {y_q}}}{{x - {x_q}}} ，$ (6)
 ${u_2} = \frac{{{y_z} - {y_q}}}{{{x_z} - {x_q}}}，$ (7)
 $\theta = \arctan \left| {\frac{{{u_1} - {u_2}}}{{1 + {u_1} \cdot {u_2}}}} \right| 。$ (8)

2 实验分析

 图 1 最佳导航路线选择结果分析 Fig. 1 Analysis of the best navigation route selection results

 图 2 路线选择能力分析 Fig. 2 Analysis of route selection capability

3 结　语

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