Research on Dynamic Planning Method of Collision Avoidance Route Based on Ship Kinematics

This paper improves the genetic algorithm (GA) and combines the ship kinematics model to design the ship route planning, which achieve the obstacle avoidance task for the complex sea conditions without human manipulation. First, a kinematics model of stand on and turning of ship is established. This model provides navigation time and velocity variation. Second, the GA fitness function and the gravitational potential field method are combined to construct the dynamic obstacle avoidance. The elimination and selection of individuals in nature is simulated to separate the decisive factors and improves the GA to ensure the safety of the final route. It ensures that the track points to be far from the obstacles. Third, a strategy to convert the reference coordinate system is proposed, which reduces the complexity of the algorithm and improves the efficiency of route planning. Finally, the ship navigation semi-physical simulation platform is used to carry out ship route planning simulation for dynamic and static obstacles. The results prove the feasibility and effectiveness of the proposed algorithm.