To properly form a route that a ship can navigate.SOLUTION: A route forming device for a ship includes: a line map constructing unit which detects a position of a representative point of an obstacle and constructs a line map for showing a navigable area and a non-navigable area of the ship based on the position of the representative point; a condition setting unit that uses the line map to set an evaluation value for each position on the line map, which increases as the obstacle moves away from the line map; and an optimization calculation executing unit that performs an optimization calculation using an evaluation function based on the evaluation value, and forms a route for the ship when a result of the optimization calculation is optimal.SELECTED DRAWING: Figure 1
【課題】船舶が航行可能な経路を適切に作成する。【解決手段】船舶の経路作成装置は、障害物の代表点の位置を検出し、代表点の位置を基に、船舶が航行可能な領域と、航行不可能な領域とを示す折れ線マップを構築する折れ線マップ構築部と、折れ線マップを用いて、障害物の位置から遠くなると評価が高くなる評価値を、折れ線マップの位置毎に設定する条件設定部と、評価値に基づいた評価関数を用いて最適化計算を行い、最適化計算の結果が最適となる際の船舶の経路を作成する最適化計算実行部とを含む。【選択図】図1
ROUTE FORMING DEVICE, SHIP, ROUTE FORMING METHOD, AND PROGRAM
経路作成装置、船舶、経路作成方法、及びプログラム
2024-11-28
Patent
Electronic Resource
Japanese
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