Automatic Planning of the Shortest Searching Route in Irregular Convex Region for Surface Ship

doi:10.12382/bgxb.2022.0443

Abstract

Abstract:

Automatic planning of the shortest submarine searching route in the irregular convex area is proposed to solve the issue that the existing surface ship regional submarine searching route planning only focuses on regular rectangular areas neglecting the complexity of irregular areas. For irregular convex polygons, the linear relationship formula between the total length of the searching route and the number of turns is derived. On this basis, the calculation model of the shortest submarine searching route is constructed. Based on the internal correlation law between the optimal submarine searching route course and the boundary of irregular convex region, the algorithm for solving the optimal submarine searching route course is designed. The experimental results show that the method could effectively determine the optimal search direction within the irregular convex areas and subsequently generate, the shortest search path automatically.

Key words: surface ship, shortest submarine searching route, automatic route generation, irregular convex region, regional submarine search

CLC Number:

P209

ZHOU Yinfei, ZHANG Lihua, JIA Shuaidong, DAI Zeyuan, LIU Xiang. Automatic Planning of the Shortest Searching Route in Irregular Convex Region for Surface Ship[J]. Acta Armamentarii, 2023, 44(10): 3047-3055.

Figures/Tables 10

References 24

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航路点	P₂	P₃	P₄	P₅	P₆	P₇	P₈
P₁	0m	l₁₃	l₁₄	l₁₅	l₁₆	l₁₇	l₁₈
P₂		l₂₃	l₂₄	l₂₅	l₂₆	l₂₇	l₂₈
P₃			0m	l₃₅	l₃₆	l₃₇	l₃₈
P₄				l₄₅	l₄₆	l₄₇	l₄₈
P₅					0m	l₅₇	l₅₈
P₆						l₆₇	l₆₈
P₇							0m
P₈

航路点	P₂	P₃	P₄	P₅	P₆	P₇	P₈
P₁	0m	l₁₃	l₁₄	l₁₅	l₁₆	l₁₇	l₁₈
P₂		l₂₃	l₂₄	l₂₅	l₂₆	l₂₇	l₂₈
P₃			0m	l₃₅	l₃₆	l₃₇	l₃₈
P₄				l₄₅	l₄₆	l₄₇	l₄₈
P₅					0m	l₅₇	l₅₈
P₆						l₆₇	l₆₈
P₇							0m
P₈

航路规划方法	航路总长度/m	转向次数	有效覆盖率/%
本文方法	1385767.62	72	99.890
Boustrophedon方法	1409819.14	90	99.705

航路规划方法	航路总长度/m	转向次数	有效覆盖率/%
本文方法	1385767.62	72	99.890
Boustrophedon方法	1409819.14	90	99.705

搜潜航路方向/(°)	航路总长度/m	转向次数	有效覆盖率/%	搜潜航路方向/(°)	航路总长度/m	转向次数	有效覆盖率/%
60.39(最优搜潜方向)	112453.5930	24	99.540	90/270	119591.7190	32	97.574
0/180	123879.1498	36	98.901	95/265	123896.8864	34	99.283
5/355	121169.3554	34	98.961	100/260	126617.5134	36	99.398
10/350	116240.9375	30	97.682	105/255	128202.3924	40	99.590
15/345	118820.7514	30	98.796	110/250	128752.4803	42	99.640
20/340	117177.1895	28	99.403	115/245	130064.9488	44	99.699
25/335	117773.5349	28	98.938	120/250	131214.4607	46	99.804
30/330	118999.8337	28	98.944	125/255	132526.1334	48	99.833
35/325	119427.7280	28	99.228	130/260	132462.8667	50	99.871
40/320	119588.2008	28	99.276	135/325	132349.9886	50	99.855
45/315	119987.4314	28	99.178	140/320	132118.7385	50	99.852
50/310	119596.7109	26	99.057	145/315	132230.4233	50	99.865
55/305	121141.6249	24	98.545	150/310	132404.1053	50	99.837
60/300	112522.5482	22	99.325	155/305	130999.4943	50	99.782
65/295	114118.8589	24	98.447	160/300	129799.5460	48	99.698
70/290	117820.3099	26	98.960	165/295	128260.0920	46	99.531
75/285	123242.6214	30	99.085	170/290	127337.2049	44	99.485
80/280	121680.7333	30	99.211	175/285	125470.4628	42	99.333
85/275	125281.7308	32	99.657	180/280	119591.7190	40	97.574