帆船直线航行比赛最优路径动态规划方法研究

针对帆船直线航行比赛的赛场情况,提出一种基于模糊综合评价和动态规划理论的帆船直航训练最优路径动态规划方法.首先以模糊逻辑为基础,建立帆船相对于目标点的隶属函数,并以此描述帆船的当前位置和方向信息;然后综合考虑行驶速度和接近目标点两个因素,建立综合评价函数,并以航道宽度为限制条件,利用动态规划原理分阶段进行航向决策.最后通过仿真验证了算法的有效性.

Optimum Path Planning Method for Straightaway Sailing Race Based on Dynamic Programming

An optimum path planning method is proposed for straightway sailing race using fuzzy comprehensive evaluation concept and dynamic programming theory. This method puts forward a sailing membership function of a sailboat, describing its position and heading information, which relative to the end point. Moreover, it sets up a comprehensive evaluating function concerning the sailing velocity and the sailing membership function. The optimum heading is obtained by finding the minimum of the comprehensive evaluating function with the limiting condition of sea-route width. Simulation results show the effectiveness and the applicability of the proposed method.