Abstract: Aiming at the problem that the influence of marine meteorological environment was seldomly considered in ship path planning, an intelligent planning method for ship paths under the effect of wind, wave and current was established on the premise of ensuring navigation safety and aiming at the shortest navigation time. Firstly, the vessel stall due to the disturbance forces of wind, wave and current was calculated. Secondly, the convex packet algorithm was used to construct a safe navigational space considering the irregularity of the obstruction zone boundary, and the initial path solution was solved based on Maklink method and Dijkstra algorithm. Then, an improved genetic algorithm with adaptive evolution of cross-mutation operator was designed to improve the convergence speed of the algorithm, and a master-slave parallel mechanism was adopted to realize the adaptive genetic algorithm’s optimization of the initial path. Finally, the proposed method was simulated and compared with the case without considering the water depth limitation and the disturbance of wind, wave and current. The results show that the path planned by the proposed method can effectively avoid unsafe navigational waters and shorten the navigation elapsed time, which helps to improve the efficiency of ship navigation and facilitate the intelligent development of ships.

Key words: traffic and transportation engineering; ship; path planning; wind, wave and current; Maklink; genetic algorithm

摘要： 针对船舶路径规划中较少考虑海洋气象环境影响的问题，以保证航行安全为前提、以航行耗时最短为目标，建立一种风浪流作用下船舶路径智能规划方法。首先，计算风、波浪和水流的干扰力导致的船舶失速。其次，考虑碍航区边界不规则特性利用凸包算法构建安全航行空间，基于Maklink法和Dijkstra算法求解初始路径。然后，为提高算法收敛速度设计了交叉变异算子自适应进化的改进遗传算法，采用主从并行机制实现自适应遗传算法对初始路径优化。最后，对该方法进行仿真实验，并与未考虑水深限制和风浪流干扰的情况对比。结果表明：该方法规划的路径能够成功避开不安全航行水域，并使航行耗时缩短，有助于提升船舶航行效率，助力船舶智能化发展。

关键词: 交通运输工程； 船舶；路径规划；风浪流；Maklink；遗传算法