UUV three-dimension sea route planning method in moving obstacle environment

A motion obstacle and route planning technology, applied in three-dimensional position/course control, etc., can solve the problem that the robot cannot reach the target point, and achieve the effect of optimizing the route planning

Active Publication Date: 2014-05-07
哈尔滨船海智能装备科技有限公司
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Problems solved by technology

The robot cannot re

Method used

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  • UUV three-dimension sea route planning method in moving obstacle environment
  • UUV three-dimension sea route planning method in moving obstacle environment
  • UUV three-dimension sea route planning method in moving obstacle environment

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Embodiment Construction

[0034] Step 1: Establish a UUV three-dimensional obstacle avoidance cost function by calculating the time when the UUV encounters a fixed obstacle and a moving obstacle;

[0035] The closer the UUV is to the obstacle in the forward direction, the larger the cost function, and vice versa. The fixed obstacle cost function for collision avoidance is:

[0036] f 1 = n * S L ( ψ , θ ) - - - ( 1 )

[0037] In the formula, n is a constant coefficient to adjust the sensitivity of obstacle avoidance. S is the planning step, that is, the distance from the current point to the next planned point. L(ψ,θ) is the straight-line distance between the current point a...

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Abstract

The invention relates to a UUV three-dimension sea route planning method in a moving obstacle environment. The method is characterized by comprising the following steps: step 1, establishing a UUV three-dimension obstacle avoidance cost function by calculating the time when a UUV encounters a fixed obstacle and a moving obstacle; step 2, establishing a UUV three-dimension target-approaching cost function by calculating the angle relation between the heading direction of the UUV and the target direction; and step 3, establishing a UUV three-dimension sea route planning cost function by combining the UUV three-dimension obstacle avoidance cost function and the UUV three-dimension target-approaching cost function.

Description

technical field [0001] The invention relates to a three-dimensional route planning method for an unmanned underwater vehicle (Unmanned underwater vehicle, UUV) in a movement obstacle environment. Background technique [0002] With the development of marine economy and the advancement of science and technology, UUV (Unmanned underwater vehicle) plays an increasingly important role in marine environment detection, resource exploitation, military interference and reconnaissance, and has gradually become a research hotspot. The marine environment is very complex, with fixed obstacles such as submarine mountains, coke rocks, shipwrecks, and hidden piles, as well as movement obstacles such as ships. How to find an optimized route from the starting point to the target point, which can avoid obstacles and threats and efficiently complete survey and reconnaissance tasks, has become the primary issue for UUV safe and efficient operations. [0003] Many scholars at home and abroad hav...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 严浙平邓超李聪聪赵玉飞徐健陈涛
Owner 哈尔滨船海智能装备科技有限公司
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