Abstract
With the development of computer technology, the intelligent level of vessel continues to improve, and vessel' autonomous obstacle avoidance navigation has gradually become a research hotspot. In order to solve the problem of autonomous obstacle avoidance navigation of surface unmanned vessel in complex restricted waters, a method of obstacle avoidance route planning based on multi-objective evolutionary algorithm is proposed. First, a multi-objective route planning model with the goal of minimizing route distance and navigation risk is established. At the same time, angle constraints are set in the model to reduce unnecessary steering of the route and improve the actual maneuverability of the planned route. Finally, NSGA-II in the multi-objective evolutionary algorithm is introduced to solve the route planning model and realize obstacle avoidance route planning. Simulation experiments and comparison with other traditional algorithms prove that this method can quickly and effectively design obstacle avoidance routes, reduce ship navigation risks, and realize intelligent route planning in complex restricted waters.
Published Version
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