Unmanned ship route planning method suitable for long and narrow channel

• Main Authors: ZHANG KAILI, ZHAO YAN, ZHANG JINGJING, LIU SHUAI, YUAN RUBIN, FANG YUANYUAN
• Format: Patent
• Language: Chinese; English
• Published: 08.02.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to an unmanned ship route planning method suitable for a long and narrow channel, and the method comprises the steps: 1, carrying out the channel data preprocessing, and extracting the coordinate information of boundary discrete points of left and right banks of the channel; 2, establishing a Delaunay triangulation network by taking the discrete point coordinate data extracted in the step 1 as a connecting line end point and taking a shoreline as a constraint edge to form a set of triangular edges, removing the triangular edges contained on the single-side constraint shoreline from the set of triangular edges, solving feature points on the remaining triangular edges, sorting the feature points according to the direction of the channel and sequentially connecting the feature points to obtain channel feature lines; and 3, optimizing the extracted channel feature lines by using an area method, removing redundant route points from the channel feature lines, and taking the optimized route as