Построение маршрута с помощью улучшенного метода изохрон при минимизации времени плавания и с учетом прогноза погоды

Хунбо Ван; Пэнфэй Ли; Юаньюань Сюэ; Максим Васильевич Коровкин

doi:10.21638/11701/spbu10.2017.306

Authors

Хунбо Ван State Key Laboratory on Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699, pr. Qianjindajie, Changchun, 130012, Chinese Peoples Republic
Пэнфэй Ли State Key Laboratory on Integrated Optoelectronics, College of Electronic Science and Engineering, Jilin University, 2699, pr. Qianjindajie, Changchun, 130012, Chinese Peoples Republic
Юаньюань Сюэ St. Petersburg State University, 7–9, Universitetskaya nab., St. Petersburg, 199034, Russian Federation
Максим Васильевич Коровкин St. Petersburg State University, 7–9, Universitetskaya nab., St. Petersburg, 199034, Russian Federation https://orcid.org/0000-0002-2950-4048

DOI:

https://doi.org/10.21638/11701/spbu10.2017.306

Abstract

Optimal control theory is the core of modern control theory. The development of control theory comes from the requirements of the control object. With the continuous progress of social science and technology, optimal control theory is widely used for such issues as the minimum time problem, the minimum energy consumption problem, the linear quadratic index optimal problem, and others. In this paper, a method of calculating the minimum time route of the ship using rhumb lines combined with isochrones is proposed. Firstly, a mathematical model of the minimum time route is constructed and the ship motion equation is discretized. Secondly, the distance between the starting point and the end point is divided into several rhumb segments with equal traveling time so that each isochrone corresponds to different rhumb line. Then, N parallel lines of equal spacing ΔD are arranged on both sides of each rhumb segment to form 2N sub-channels. Stipulate that the ship can only sail within the interval of 2N × ΔD and constrain the navigation area in order to find the optimal solution faster. At each unit of discrete time the course of the ship remains constant. Select the optimal arrival points on each sub-lane interval in the same time to form the local optimal isochrone. After calculating the minimum time of the ship’s voyage, the minimum time route is derived using step-by-step recursion. In addition, in order to improve the obstacle avoidance capability of the improved isochrone method, the paper also proposes the algorithm based on a bitmap image in order to avoid a danger zone which may be encountered in the course of navigation, so as to ensure the safe navigation of the ship at sea. Finally, the improved isochrone method is applied to the problem of the minimum time route of the ship under meteorological conditions. The simulation results in MATLAB show that the algorithm can not only find the minimum time route from the starting point to the end point and ensure the route is relatively short, but also avoid dangerous areas encountered in the course of navigation in time and assure safety of navigation. Refs 16. Figs 9.

Keywords:

improved isochrone method, meteorological navigation, route optimization, algorithm of avoiding the danger zone

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References

Литература

James R. W. Application of wave forecast to marine navigation // Comparative Biochemistry & Physiology a comparative physiology. 1957. Vol. 43, N 1. P. 195–205.

Hagiwara Hideki, Spaans J. A. Practical weather routing of sail-assisted motor vessels // Journal of Navigation. 1987. Vol. 40, N 1. P. 96–119.

Hagiwara H. Weather routing of (sail-assisted) motor vessels. PhD thesis. Delft: Delft University of Technology, 1989. 336 p.

Faulkner F. D. Numerical methods for determining optimum ship routes // Journal of the Institute of navigation. Winter 1963. Vol. 10, N 4. P. 351–367.

Bleick W. E., Faulkner F. D. Minimal-time ship routing // Journal of Applied Meteorology. 1965. Vol. 4, N 2. P. 217–221.

Bijlsma S. J. A computational method for the solution of optimal control problems in ship routing // Journal of the Institute of navigation. 2001. Vol. 48, N 3. P. 145–154.

Petrie G. L., Bongert K. J., Maclean W. M. A new approach to vessel weather routing and performance analysis // Marine Technology. 1984. Vol. 21. P. 19–41.

Motte R. H., Calvert S. On the selection of discrete grid systems for on-board micro-based weather routing // The Journal of Navigation. 1990. Vol. 43. P. 104–117.

Maki A., Akimoto Y., Nagata Y. et al. A new weather-routing system that accounts for ship stability based on a real-coded genetic algorithm // Journal of Marine Science and Technology. 2011. Vol. 16, N 3. P. 311–322.

Kang M. H., Choi H. R., Kim H. S. et al. Development of a maritime transportation planning support system for car carriers based on genetic algorithm // Applied Intelligence. 2012. Vol. 36, N 3. P. 585–604.

Tsou M. C., Cheng H. C. An Ant Colony Algorithm for efficient ship routing // Polish Maritime Research. 2013. Vol. 20, N 3. P. 28–38.

Veremei E. I., Sotnikova M. V. Optimal routing based on weather forecast // Intern. Journal of Open Information Technologies. 2016. Vol. 4, N 3. P. 55–61.

Eskild Hege. Development of a method for weather routing of ships: master thesis. Norwegian: Norwegian University of science and technology, 2014. 143 p.

Liu Feng, Pang Fuwen. Calculation of minimum-time ship route using rhumb algorithm // Journal of Dalian marine college. February 1994. Vol. 20, N 1. P. 14–18.

Yang Zhenzhong, Liu Shiqi. Calculation of speed loss for ships operating at heavy sea // Navigation of China. 1990. Vol. 27, N 2. P. 35–40.

Kltazawa Takamune, Kuroi Masaaki. Critical speed of container ship in rough sea //Journal of the Society of naval architects of Japan. December 1975. N 138. P. 269–276.

References

James R.W. Application of wave forecast to marine navigation. Comparative Biochemistry & Physiology a comparative physiology, 1957, vol. 43, no. 1, pp. 195–205.

Hagiwara Hideki, Spaans J. A. Practical weather routing of sail-assisted motor vessels. Journal of Navigation, 1987, vol. 40, no. 1, pp. 96–119.

Hagiwara H. Weather routing of (sail-assisted) motor vessels. PhD thesis. Delft, Delft University of Technology, 1989, 336 p.

Faulkner F. D. Numerical methods for determining optimum ship routes. Journal of the Institute of navigation, Winter 1963, vol. 10, no. 4, pp. 351–367.

Bleick W. E., Faulkner F. D. Minimal-time ship routing. Journal of Applied Meteorology, 1965, vol. 4, no. 2, pp. 217–221.

Bijlsma S. J. A computational method for the solution of optimal control problems in ship routing. Journal of the Institute of navigation, 2001, vol. 48, no. 3, pp. 145–154.

Petrie G. L., Bongert K. J., Maclean W. M. A new approach to vessel weather routing and performance analysis. Marine Technology, 1984, vol. 21, pp. 19–41.

Motte R. H., Calvert S. On the selection of discrete grid systems for on-board micro-based weather routing. The Journal of Navigation, 1990, vol. 43, pp. 104–117.

Maki A., Akimoto Y., Nagata Y. et al. A new weather-routing system that accounts for ship stability based on a real-coded genetic algorithm. Journal of Marine Science and Technology, 2011, vol. 16, no. 3, pp. 311–322.

Kang M. H., Choi H. R., Kim H. S. et al. Development of a maritime transportation planning support system for car carriers based on genetic algorithm. Applied Intelligence, 2012, vol. 36, no. 3, pp. 585–604.

Tsou M. C., Cheng H. C. An Ant Colony Algorithm for efficient ship routing. Polish Maritime Research, 2013, vol. 20, no. 3, pp. 28–38.

Veremei E. I., Sotnikova M. V. Optimal routing based on weather forecast. Intern. Journal of Open Information Technologies, 2016, vol. 4, no. 3, pp. 55–61.

Eskild Hege. Development of a method for weather routing of ships. Master thesis. Norwegian, Norwegian University of science and technology, 2014, 143 p.

Liu Feng, Pang Fuwen. Calculation of minimum-time ship route using rhumb algorithm. Journal of Dalian marine college. February 1994, vol. 20, no. 1, pp. 14–18.

Yang Zhenzhong, Liu Shiqi. Calculation of speed loss for ships operating at heavy sea. Navigation of China, 1990, vol. 27, no. 2, pp. 35–40.

Kltazawa Takamune, Kuroi Masaaki. Critical speed of container ship in rough sea. Journal of the Society of naval architects of Japan. December 1975, no. 138, pp. 269–276.