Abstract: Sailboat racing carries with a high degree of uncertainty.This paper proposes an optimal path planning method for a sailboat sailing based on section optimization and evolutionary programming.It sets up the two-dimension model for sailing and divides the whole voyage into several sections.Each section utilizes evolutionary programming using unconstrained penalty function to find the local optimal path.Emulation under the actual marine environments may improve the scientific training and the athletes’ scores.And this has good effectiveness and the applicability.

Key words: sailboat, section optimization, optimal path planning, evolutionary programming, emulation

摘要： 针对帆船在海上行驶所具有的模糊性和不定性的复杂环境特点，提出基于分区段优化和进化规划的帆船航行路径优化方法。该方法在比赛区域建立二维平面坐标系，将整个航程划分为若干区段，每个区段以帆船无约束的航向决策综合评价函数为基础，利用进化规划全局优化搜索进行路径优化，综合得到全航程最优路径。在此理论基础上，进行优化路径的仿真。仿真结果表明，该路径优化方法能够取得较好的规划结果，对于帆船科学训练具有很好的指导作用。

关键词: 帆船, 分区段优化, 路径规划, 进化规划, 仿真