船舶路径规划数值仿真

Numerical Simulation of Path Planning in Ship

摘要: 本文对动力定位船舶的路径规划进行数值仿真研究，首先建立船舶的数学模型，通过设定路径点生成的路径与船舶之间的几何位置关系生成追踪策略，计算船舶当前时刻的期望艏向；应用控制算法得到控制船舶达到期望艏向所需的控制力矩；最后计算控制船舶达到期望运动速度所需要的纵向推力。同时分析船舶在波浪环境作用下，按照规划路径移动时的运动响应及推进器推力变化情况。

Abstract: In this paper, the path planning of dynamic positioning ship is studied by numerical simulation. Firstly, the mathematical model of the ship is established. Then the tracking strategy is generated by setting the geometric position relation between the path generated by the path point and the ship, and the desired heading of the ship at the current moment is calculated. The control moment needed to control the ship to the desired heading is obtained by using the control algorithm. Finally, the longitudinal thrust required to control the ship to reach the desired velocity is calculated. At the same time, the motion response and propeller thrust change of the ship moving along the planned path under the action of waves are analyzed.