摘要
将多维动态规划法应用于1条无人帆船从上海到青岛的长途路径规划,在当前位置以外引入已航行路径长度作为第三维状态变量,以相邻路径点之间的短途路径规划方案作为决策变量,可以规划出一组随路径总长度变化的航行时间最短路径。结果显示,增加状态变量维度后,规划结果保留了更多备选方案,起到了很好的决策辅助作用。
The multi-dimensional dynamic programming method is employed for the long-term route planning of an autonomous sailboat from Shanghai to Qingdao. The sailed voyage length out of the current position is adopted to be the third-dimension state variable. The short-term route planning between the neighboring waypoints is defined as control variable. A group of optimal routes with the minimum voyage time can be obtained corresponding to different voyage length. The result shows that with the increase of the state variable dimension, more optional routes are kept in the final results, which is valuable for the better decision support.
作者
杜明树
许劲松
DU Mingshu;XU Jinsong(State Key laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200030, Chin)
出处
《船舶工程》
CSCD
北大核心
2018年第4期11-14,88,共5页
Ship Engineering
关键词
无人帆船
长途路径规划
多维动态规划法
autonomous sailboat
long-term route planning
multi-dimensional dynamic programming
