海上被动无人搜救路线规划方法

doi:10.13229/j.cnki.jdxbgxb.20230733

摘要/Abstract

摘要：

针对海上被动无人搜救任务中目标区域难以确定、搜索范围广泛、搜救区域航路规划速度慢等问题，提出了一种面向被动无人搜救任务的海上搜救区域规划流程及航路规划模型。根据海上搜救任务预案与航路规划需求，并结合海上搜救区域规划方法构建航路优选模型，利用搜救区域覆盖效率和搜救航路消耗成本等约束进行目标函数构建，采用鲸鱼优化算法求解，设计想定实验进行分析验证。研究表明：本文提出的海上被动无人搜救航路规划模型能够快速确定搜救范围，较好地搜索到代价更低的搜救路线。

关键词: 导航制导与控制, 海上搜救, 路线规划, 辅助决策

Abstract:

Addressing the challenges inherent in passive unmanned search and rescue missions at sea， including difficulties in target identification， broad search areas， and slow route planning， a strategic process was introduced for maritime search and rescue area planning and a route planning model specifically designed for passive unmanned missions. By thoroughly understanding the emergency response operations at sea and the specific needs for route planning， an optimal routing model have been developed considering factors such as the efficiency of search and rescue area coverage and the cost of rescue routes. The objective function is constructed within these constraints and solved using the whale optimization algorithm. The validity of the model is confirmed through designated scenario experiments， indicating that our proposed model for maritime passive unmanned search and rescue route planning is capable of swiftly identifying the search and rescue area and efficiently discovering a route with reduced costs.

Key words: navigation guidance and control, maritime search and rescue, route planning, auxiliary decision-making

中图分类号:

TP391.9

张寒,黄炎焱,耿泽,陈天德. 海上被动无人搜救路线规划方法[J]. 吉林大学学报(工学版), 2025, 55(4): 1453-1466.

Han ZHANG,Yan-yan HUANG,Ze GENG,Tian-de CHEN. Passive unmanned maritime search and rescue routing method[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(4): 1453-1466.

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序号	种群规模	迭代次数	覆盖效率/%	算法时间/ms
1	10	50	82.10	781.08
2	10	100	85.96	1 411.06
3	10	150	86.61	2 017.34
4	25	50	96.30	759.24
5	25	100	96.25	1 419.60
6 7 8 9	25 40 40 40	150 50 100 150	96.28 98.96 99.14 99.53	2 279.33 775.24 1 444.98 2 110.78

方案	包含概率/%	目标函数值	算法时间/ms	核心区域航路节点
方案A	96.89	0.820 9	6 237	20
方案B	95.77	0.832 8	6 164	21
方案C	95.31	0.819 2	6 582	28
方案D	98.05	0.823 3	6 894	25
方案E	96.92	0.815 6	6 091	24
方案F	97.00	0.818 0	6 457	24

方案	W⁺距离	W^-距离	综合得分	方案排名
方案A	0.643 8	0.477 0	0.125 6	5
方案B	0.510 8	0.544 9	0.152 4	4
方案C	0.521 9	0.340 3	0.116 5	6
方案D	0.582 9	0.635 1	0.153 9	3
方案E	0.127 1	0.773 2	0.253 6	1
方案F	0.294 5	0.599 0	0.197 9	2