摘 要
為了減少對(duì)船舶誤操作引起的各種損失、降低工作人員的工作壓力及提高船舶經(jīng)濟(jì)效益等，綜合船橋系統(tǒng)逐漸發(fā)展起來(lái)。該系統(tǒng)包括眾多的研究?jī)?nèi)容，航跡規(guī)劃技術(shù)作為其中的一項(xiàng)關(guān)鍵技術(shù)，主要是指航線(xiàn)自動(dòng)生成和優(yōu)化的過(guò)程。先前航行規(guī)劃技術(shù)需要通過(guò)工作人員查閱相關(guān)的航海圖書(shū)和推薦航線(xiàn)資料，通過(guò)分析潮流等情況手動(dòng)地將信息輸入到系統(tǒng)中，這樣并沒(méi)有發(fā)揮出綜合船橋系統(tǒng)的智能性。本文的研究考慮到傳統(tǒng)航跡規(guī)劃研究方法的限制和制約，通過(guò)獲知航海區(qū)的信息，利用計(jì)算機(jī)技術(shù)和現(xiàn)代控制理論技術(shù)實(shí)現(xiàn)船舶的航跡規(guī)劃設(shè)計(jì)。
針對(duì)純數(shù)學(xué)規(guī)劃方法在求解環(huán)境復(fù)雜時(shí)存在維數(shù)爆炸、計(jì)算時(shí)間長(zhǎng)等問(wèn)題，本文中采用兩種智能算法——蟻群算法和遺傳算法展開(kāi)航跡規(guī)劃設(shè)計(jì)的研究。
在文章中首先對(duì)蟻群算法和遺傳算法的基本理論、算法結(jié)構(gòu)、算法特點(diǎn)進(jìn)行了比較深入的研究；其次介紹了船舶航行空間的建模，通過(guò)建模對(duì)航行環(huán)境中固定位置的禁航區(qū)（等深線(xiàn)區(qū)或礙航區(qū)）進(jìn)行了必要的處理。并根據(jù)IHO S-57（第三版）的規(guī)定將禁航區(qū)的位置進(jìn)行擴(kuò)充，擴(kuò)充后的區(qū)域形成一個(gè)環(huán)，環(huán)內(nèi)部為禁航區(qū)不可行，環(huán)外部為可以自由航行的區(qū)域； 再次在空間建模的基礎(chǔ)上，根據(jù)船舶的航行特點(diǎn)分別對(duì)蟻群算法和遺傳算法進(jìn)行了算法內(nèi)部結(jié)構(gòu)參數(shù)的一些必要改進(jìn)，并將兩種算法應(yīng)用到船舶的航跡規(guī)劃中，實(shí)現(xiàn)綜合船橋系統(tǒng)基本的航跡規(guī)劃設(shè)計(jì)；最后根據(jù)航跡規(guī)劃最佳航線(xiàn)計(jì)劃設(shè)計(jì)的要求，綜合偏航極限和安全離岸距離等概念進(jìn)行了最佳航跡規(guī)劃的設(shè)計(jì)，保障船舶的安全行駛。另外還綜合考慮氣象對(duì)航線(xiàn)的各種影響因素，并重點(diǎn)對(duì)船舶在不同方向順流影響下的航跡規(guī)劃進(jìn)行了仿真，為船舶節(jié)能、增效起到一定的作用。
文章中航跡規(guī)劃技術(shù)的基本航線(xiàn)設(shè)計(jì)和最佳航線(xiàn)設(shè)計(jì)均通過(guò)Matlab 軟件進(jìn)行仿真實(shí)現(xiàn)，較之傳統(tǒng)手工繪制航跡的方法提高了設(shè)計(jì)的效率和設(shè)計(jì)的準(zhǔn)確性；較之查閱已有航線(xiàn)圖的方法提高了設(shè)計(jì)的靈活性。通過(guò)各種仿真結(jié)果，證明了運(yùn)用智能算法規(guī)劃航跡速度快、方便靈活，能夠較好的運(yùn)用于不同的航行環(huán)境。

關(guān)鍵詞 綜合船橋系統(tǒng)； 航跡規(guī)劃； 遺傳算法； 蟻群算法

Abstract
In order to reduce all kinds of heavy losses caused by incorrect operation、decrease workers’ work pressure and increase the economic benefits, the Integrated Bridge System(IBS) develops gradually. This system includes many kinds of research contents, the ship path planning as a key technology refers the selfshipping and optimizing. Previously the ship path planning needed workers consulting the relevant maritime books and the path materials, analysising the circumstance like ocean currents, manually entering into the system. By this way it can not reflect the intelligence of the IBS. Considing the restriction and restrict of the traditional methods in the methods of ship path planning, this research through the known information of the sailing area, finishs the ship path planning by computer and control theory.
Because when solves the complex problem, the dimension will be exploded and the time for caculating will be such long by using the pure mathematics method, this paper studies two intelligent algorithms——ant colony algorithm and genetic algorithm.
Firstly, this paper introduces the basic theory of ant colony algorithm and genetic algorithm. Secondly, this paper introduces the modeling of ship sailing space, and makes some necessary processing of the fixed location obstacle zones. Obeying the IHO S-57 (the third edition) regulation, this paper extends the obstacle zones. The obstacle zones become ring after the extending, and inside the ring is not feasible, out of the ring is feasible. Based on the modeling of the ship sailing space, the paper improves some parameters of the two algorithms according to ship path planning. Finally, it realizes the optimal ship path planning by computer simulation. It puts forward the concept of yaw limit area and safe distance from the shore reef, ensuring the safe voyage. It also introduces the various factors affecting the weather route, and simulates different direction of the ocean current on ship path planning. It plays a part in the ship on energy saving and the economic efficiency improving.
The basic path planning and the optimal path planning are all simulated by the software of Matlab. It can greatly improve the efficiency and accuracy comparing with the traditional manual method. And it is also flexible comparing with method by refering to the existing route chart. Through various simulation results it proves that using the intelligent algorithms, the speed is fast , it is convenient and flexible when realizing. The design can applied to different navigation environments.

Key words Integrated Bridge System (IBS); ship path planning; genetic algorithm; ant colony algorithm
.
目 錄
摘 要 I
Abstract III
第1章 緒論 1
1.1 課題研究的背景及意義 1
1.2 課題研究現(xiàn)狀 2
1.2.1 綜合船橋系統(tǒng)IBS的研究現(xiàn)狀 2
1.2.2 航跡規(guī)劃設(shè)計(jì)的研究進(jìn)展 3
1.3 本文的研究?jī)?nèi)容 4
第2章 蟻群算法概述 6
2.1 蟻群算法的基本原理 6
2.2 蟻群算法的數(shù)學(xué)模型 8
2.2.1 基本蟻群算法模型的建立 8
2.2.2 蟻群算法的三種模型 9
2.3 改進(jìn)蟻群算法 10
2.3.1 帶精英策略的螞蟻系統(tǒng) 10
2.3.2 基于優(yōu)化排序的螞蟻系統(tǒng) 11
2.3.3 最大——最小螞蟻系統(tǒng) 11
2.3.4 蟻群系統(tǒng) 12
2.4 本章小結(jié) 13
第3章 遺傳算法概述 14
3.1 遺傳算法的思想來(lái)源 14
3.2 遺傳算..