CN-116481534-B - Risk quantization route planning method and device based on sea ice safety potential field

CN116481534BCN 116481534 BCN116481534 BCN 116481534BCN-116481534-B

Abstract

The invention relates to a risk quantification route planning method and a risk quantification route planning device based on sea ice safety potential fields, which are used for obtaining an environment grid map by acquiring sea ice physical characteristic data of a target navigation area and grid-connecting the target navigation area, and then, a safety potential field model is established for each grid according to sea ice physical characteristic data to represent the safety potential field strength of the target position relative to the grid, then, the risk potential energy value of the target ship in each grid is calculated according to the navigation data of the target ship and the safety potential field model of each grid, a risk quantification graph is obtained, and finally, a route is planned according to the risk quantification graph. Compared with the prior art, the method and the device apply the concept of the safety potential field to the ice region, evaluate the safety potential field based on the sea ice physical characteristic data in the target navigation region, quantitatively calculate the risk according to the actual data to obtain the risk quantification map, further realize route planning, achieve the aim of objectively and accurately planning the low-risk route, and have good application prospects.

Inventors

SHU YAQING
WANG XINYUE
GAN LANGXIONG
ZHANG DI
WU DA
ZHU YUJIE

Assignees

武汉理工大学

Dates

Publication Date: 20260512
Application Date: 20221230

Claims (8)

1. The risk quantification route planning method based on the sea ice safety potential field is characterized by comprising the following steps of: Acquiring sea ice physical characteristic data of a target navigation area, and grid-connecting the target navigation area to obtain an environment grid map; Establishing a safety potential field model for each grid according to the sea ice physical characteristic data in each grid in the environment grid graph, wherein the safety potential field model comprises the steps of obtaining potential field operation constants of a target source grid according to the sea ice physical characteristic data in the target source grid, wherein the target source grid refers to each grid in the environment grid graph, and establishing the safety potential field model of the target source grid according to the potential field operation constants by taking the distance between a target position and the target source grid as an input variable and the safety potential field strength of the target position relative to the target source grid as an output quantity, wherein the safety potential field model is used for representing the safety potential field strength of the target position relative to the grid; Acquiring navigation data of a target ship, and calculating a risk potential energy value of the target ship in each grid according to the navigation data and the safety potential field model of each grid to obtain a risk quantization map, wherein the navigation data comprises ship quality and ship speed; based on the equivalent mass, calculating a risk potential energy value of the target ship in a target evaluation grid according to the safety potential field model of each grid, wherein the target evaluation grid refers to each grid in the environmental grid map; and planning a route according to the risk quantification graph to obtain a target navigation route.
2. The sea ice safety potential field-based risk quantification route planning method according to claim 1, wherein the sea ice physical characteristic data comprises sea ice thickness and sea ice density, the potential field operation constant of the target source grid is obtained according to the sea ice physical characteristic data in the target source grid, and the method comprises the following steps: acquiring the ship type of the target ship; Obtaining the RV value of the target source grid according to the ship type and the sea ice thickness in the target source grid; And obtaining an RIO value of the target source grid according to the RV value and the sea ice density in the target source grid, wherein the RIO value is the potential field operation constant.
3. A sea ice safety potential field based risk quantified lane planning method according to claim 1, wherein the calculating a risk potential value of the target vessel within a target evaluation grid from the safety potential field model of each grid based on the equivalent quality comprises: Acquiring a distance between the target evaluation grid and the target source grid; according to the distance between the target evaluation grid and the target source grid, based on the safety potential field model, the safety potential field strength of the target evaluation grid relative to the target source grid is obtained; Obtaining a sub-risk potential energy value of the target evaluation grid relative to the target source grid according to the safety potential field strength of the target evaluation grid relative to the target source grid and the equivalent mass; and obtaining the risk potential energy value of the target ship in the target evaluation grid according to the sub-risk potential energy value of the target evaluation grid relative to each target source grid.
4. The sea ice safety potential field-based risk quantification route planning method according to claim 1, wherein the planning a route according to the risk quantification map to obtain a target sailing route comprises: Establishing an improved actual cost function based on the sum of the actual cost and the path length by taking the grids in the risk quantification graph as nodes, taking the risk potential energy value of the grids as an actual cost and taking the distance between two grids as the path length; Establishing a dynamic weight, and establishing a heuristic cost function according to the dynamic weight, wherein the weight of the dynamic weight changes according to a real-time heuristic cost function value and a maximum heuristic cost function value during calculation; based on the improved actual cost function and the improved heuristic cost function, according to the risk quantization diagram, the method comprises the following steps of A The algorithm obtains a planned path; And smoothing the planning path through a Bezier curve to obtain the target navigation route.
5. The sea ice safety potential field-based risk quantification route planning method according to claim 1, wherein the obtaining sea ice physical characteristic data of a target navigation area, and grid-connecting the target navigation area to obtain an environment grid map, comprises: the sea ice physical characteristic data of the target navigation area are acquired; Obtaining a projection map of the target area based on polar-radial-barefoot projection according to the target navigation area; And gridding the target area projection graph, and combining the sea ice physical characteristic data to obtain the environment schematic diagram.
6. Risk quantization route planning device based on sea ice safety potential field, characterized by comprising: The grid map building module is used for obtaining sea ice physical characteristic data of the target navigation area and carrying out grid-connected meshing on the target navigation area to obtain an environment grid map; The safety potential field calculation module is used for establishing a safety potential field model for each grid according to the sea ice physical characteristic data in each grid in the environment grid graph, and comprises the steps of obtaining potential field operation constants of a target source grid according to the sea ice physical characteristic data in the target source grid, wherein the target source grid refers to each grid in the environment grid graph; The risk quantization module is used for acquiring navigation data of a target ship, calculating a risk potential energy value of the target ship in each grid according to the navigation data and the safety potential field model of each grid, and obtaining a risk quantization map, wherein the navigation data comprise ship quality and ship speed; based on the equivalent mass, calculating a risk potential energy value of the target ship in a target evaluation grid according to the safety potential field model of each grid, wherein the target evaluation grid refers to each grid in the environmental grid map; And the route planning module is used for planning a route according to the risk quantification graph to obtain a target navigation route.
7. An electronic device comprising a memory and a processor, wherein, The memory is used for storing programs; The processor, coupled to the memory, for executing the program stored in the memory to implement the steps in the sea ice safety potential field-based risk quantified lane planning method of any one of claims 1-5.
8. A computer readable storage medium storing a computer readable program or instructions which when executed by a processor is capable of carrying out the steps of a sea ice safety potential field based risk quantifying route planning method according to any of the preceding claims 1 to 5.

Description

Risk quantization route planning method and device based on sea ice safety potential field Technical Field The invention relates to the technical field of ship routes, in particular to a risk quantification route planning method and device based on a sea ice safety potential field. Background Arctic waterways, although gradually opened up in the 19 to 20 th century, are not commercially valuable for shipping due to severe weather conditions and ice conditions. In recent years, the navigation potential of the north pole is continuously improved under the influence of rapid ablation of sea ice, on one hand, although the trend of global warming is reduced to a certain extent, the climate change in the north pole area is rapidly accelerated, which is called as a phenomenon of 'north pole enlargement', and on the other hand, the ice coverage in the north pole summer and autumn is gradually reduced and the sea ice thickness is continuously reduced along with the rapid increase of the air temperature. With the continuous change of ice conditions, the arctic airlines will become more and more busy in the future, and become the main channel of world trade. Based on the above background, the problem of how to achieve safe shipping in arctic regions has arisen. This major problem can be divided into two minor problems, one is the quantitative problem of navigation risk in arctic regions and one is the problem of planning the route based on this quantitative risk. Under the navigation risk quantification problem, the current common risk quantification methods comprise a fuzzy comprehensive evaluation method, a hierarchical analysis method, a gray correlation method and the like, and the models and formulas of the methods are clear and easy to understand, so that the method is very convenient to use. But north is a newly developed continent, and no excessive research has been applied to the area, not to mention the problem of risk quantification and path planning based on arctic routes, data supporting current risk quantification methods are usually obtained by expert evaluation methods, and are not based on actual data, which makes these methods somewhat objectively disfiguring, resulting in a planned route still at high risk. Therefore, there is a need for a method that combines the actual data of arctic sea ice areas to quantify risk and thereby objectively and accurately plan low risk routes. Disclosure of Invention In view of the foregoing, it is necessary to provide a risk quantification route planning based on sea ice safety potential fields, so as to achieve the objective of objectively and accurately planning a low-risk route by combining actual data of arctic sea ice areas to quantify risks. In order to achieve the technical purpose, the invention adopts the following technical scheme: In a first aspect, the invention provides a risk quantification route planning method based on a sea ice safety potential field, comprising the following steps: Acquiring sea ice physical characteristic data of a target navigation area, and grid-connecting the target navigation area to obtain an environment grid map; establishing a safety potential field model for each grid according to the sea ice physical characteristic data in each grid in the environment grid graph, wherein the safety potential field model is used for representing the safety potential field strength of a target position relative to the grid; acquiring navigation data of a target ship, and calculating a risk potential energy value of the target ship in each grid according to the navigation data and the safety potential field model of each grid to obtain a risk quantification graph; and planning a route according to the risk quantification graph to obtain a target navigation route. Further, the establishing a safety potential field model for each grid according to the sea ice physical characteristic data in each grid in the environmental grid map comprises the following steps: According to sea ice physical characteristic data in a target source grid, obtaining potential field operation constants of the target source grid, wherein the target source grid refers to each grid in the environment grid graph; And according to the potential field operation constant, taking the distance between the target position and the target source grid as an input variable, and taking the safety potential field intensity of the target position relative to the target source grid as an output quantity, and establishing a safety potential field model of the target source grid. Further, the sea ice physical characteristic data comprises sea ice thickness and sea ice density, and the obtaining the potential field operation constant of the target source grid according to the sea ice physical characteristic data in the target source grid comprises the following steps: acquiring the ship type of the target ship; obtaining the RV value of the target grid according to the ship type and the