Abstract: In order to improve the economics and safety of ship automatic generation path in complex waters, a path planning algorithm with the shortest sailing time was designed by considering the factors of marine meteorological environment and the premise of avoiding obstacles. Based on the establishment of the environmental model, the improved MAKLINK graph was used to generate the feasible path. The influence of current, wind and wave on the ships speed was analyzed according to the vector synthesis and fitting model, and then the path weight was determined. Dijkstra algorithm was used for the initial path planning, and the improved particle swarm optimization algorithm was used to furtherly optimize and smooth the initial planning path. The effectiveness of the proposed algorithm was verified by a container ship passing through the planning sea area, and the sensitivity analysis of wind direction and scale was carried out. The results show that the generated path considering the marine meteorological environment can not only avoid obstacles safely, but also save the navigation time. The improved PSO algorithm can shorten the navigation time and improve the smoothness of the path.

Key words: traffic and transportation engineering, marine meteorology, improved particle swarm optimization algorithm, complexed water areas, automatic path generation, ships speed, shortest time

摘要： 为提高复杂水域船舶自动生成路径的安全性与经济性，将海洋气象环境因素考虑在内，以船舶避开障碍物为前提，设计了以航行时间最短为目标的路径规划算法。在建立环境模型的基础上采用改进MAKLINK图生成可行路径，根据矢量合成及拟合模型分析海流及风浪对船舶航速的影响，从而确定路径权值，通过Dijkstra算法进行初始路径规划，采用改进粒子群算法进一步优化及平滑初始路径。以一艘集装箱船通过规划海域为例验证算法的有效性，并对风向和风级进行了敏感性分析。结果表明：考虑海洋气象环境影响生成的路径既可安全避开障碍物，又可节省航行时间，改进粒子群算法在缩短路径航行时间的同时可提高路径的平滑性。

关键词: 交通运输工程, 海洋气象, 改进粒子群算法, 复杂水域, 路径自动生成, 航速, 时间最短