水庫庫容無人船自動巡航路徑規(guī)劃算法與仿真實驗

摘 要：該文主要探究水庫庫容無人船自動巡航最短路徑的規(guī)劃算法，并對算法應用效果進行仿真驗證。使用模擬退火算法可以基于補測點尋找最短路徑，但是循環(huán)次數(shù)較多、耗時較長;通過補測點聚類處理，將補測點分成若干點簇后再次尋找最短路徑，耗時明顯變短，但是仍然存在不同點簇之間路徑差值較大的問題。使用點簇調(diào)整算法后，保證不同點簇之間的最短路徑相近，達到降低能耗和提高效率的目的。仿真結(jié)果表明，在點簇調(diào)整后，3個點簇最短路徑的差值從70 398.48 m變?yōu)?5 356.29 m，在多艘無人船自動巡航路徑規(guī)劃中達到能耗均衡、精度較高的效果。

關(guān)鍵詞：無人船;自動巡航路徑規(guī)劃;模擬退火算法;聚類算法;最短路徑

中圖分類號：U664.82 文獻標志碼：A 文章編號：2095-2945（2024）30-0012-04

Abstract： This paper mainly explores the shortest path planning algorithm for automatic cruising of unmanned ships in reservoir storage capacity， and carries out simulation verification to the application effect of the algorithm. Using the simulated annealing algorithm， the shortest path can be found based on the supplementary measurement points， but the number of cycles is large and the time is long. Through the supplementary measurement point clustering process， the supplementary measurement points are divided into several point clusters and then the shortest path is found again， which takes a significantly shorter time. However， there is still a problem of large path differences between different point clusters. After using the point cluster adjustment algorithm， the shortest paths between different point clusters are ensured to be similar， achieving the purposes of reducing energy consumption and improving efficiency. The simulation results show that after the adjustment of the point clusters， the difference between the shortest paths among the three point clusters changes from 70 398.48 m to 15 356.29 m， which achieves balanced energy consumption and high accuracy in the automatic cruise path planning of multiple unmanned ships.

Keywords： unmanned ship; automatic cruise path planning; simulated annealing algorithm; clustering algorithm; shortest path

水庫庫容的精確測算對提高水庫蓄洪能力、保障水庫安全有積極幫助。無人船在水庫庫容計算中具有自動化程度和測算精度高的優(yōu)勢，尤其適用于大中型水庫的庫容測算。無人船的自動巡航路徑規(guī)劃不僅決定了測算精度，而且與測算效率、測算成本也有密切關(guān)系。使用智能優(yōu)化算法規(guī)劃最短的巡航路徑，保證無人船在續(xù)航范圍內(nèi)一次性完成測算任務。基于此，探究無人船自動巡航最短路徑的規(guī)劃算法成為影響無人船應用效果的決定因素。

1 水庫庫容無人船自動巡航路徑規(guī)劃算法

1.1 模擬退火算法

為了進一步提高無人船的巡航效率，需要獲取補測點集的位置分布并計算無人船經(jīng)過所有補測點時的最短路徑。……