A Hovercraft Obstacle Avoidance Method Based on Improved Artificial Coordination Field

Abstract

The invention provides an air cushion ship obstacle avoidance method based on an improved artificial coordination field. The air cushion ship obstacle avoidance method based on an improved artificial coordination field comprises 1) acquiring the state information, the object point position and the obstacle position; 2) designing a PID control law to replacing the attractive force in an artificial coordination field; 3) calculating the risk degree, and entering the step (4) if the risk degree is greater than the preset risk degree, or entering the step (6) if the risk degree is not greater than the preset risk degree; 4) designing a repulsion field, and utilizing the maximum acceleration to restrain the field intensity parameter of the repulsion field so as to calculating the repulsion; 5) calculating the coordination force according to the repulsion; and 6) calculating the resultant force under geodetic coordinates, taking the direction of the resultant force as the heading PID control law for the expected heading direction design, and controlling an air cushion ship by taking the magnitude of the resultant force as the vertical controlling force. The air cushion ship obstacle avoidance method based on an improved artificial coordination field reduces the shaking of the air cushion ship nearby the object point because the traditional attractive force is only related with the position, and realizes collision preventation with restraint, and can realize safe obstacle avoidance within the performance range of the air cushion ship, and has great practical value.

Description

technical field [0001] The invention relates to a hovercraft obstacle avoidance method, in particular to a hovercraft obstacle avoidance method based on an improved artificial coordination field. Background technique [0002] Hovercraft will inevitably encounter obstacles during sea navigation. Due to the high speed of the hovercraft, the probability of collision increases. For the manual operation mode of the hovercraft, the driver needs to go through several steps such as information collection, information analysis, path planning, and ship control in order to control the ship to successfully avoid obstacles. Due to the high speed of the hovercraft, the decision-making time left for the operator is limited. Give the driver a lot of work pressure. [0003] Most of the domestic and foreign research on collision avoidance control of surface ships focuses on the expert collision avoidance auxiliary system, which uses the experience of experts to give guidance to the current c...

AI Technical Summary

Problems solved by technology

[0003] Most of the domestic and foreign research on collision avoidance control of surface ships focuses on the expert collision avoidance auxiliary system, which uses the experience of experts to give guidance to the current collision avoidance situation, but the expert system has the following shortcomings: First, the sea situation is complex and changeable. Each ship (even the same ship) has its own special problems and needs a suitable collision avoidance plan to solve the problem, so it is impossible to be completely suitable for the plan summed up from experience; secondly, because each Pilots have different knowledge and cognition of sea navigation, which cannot be exactly the same as the cognition of scientists who have summed up experience. Therefore, these solutions will not only fail to help the pilots, but may mislead them

However, due to the need for online optimization for path planning, the algorithm is complex, and it is not suitable for hovercraft with high real-time requirements.

[0004] As an improved artificial potential field, the artificial coordination field is applied to ship collision avoidance with simple calculation, good real-time performance, and avoids local minima, but it is easy to oscillate near the target point, and does not take into account the motion constraints of the hovercraft

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