Evading method based on same direction sailing of virtual puffed motion obstacle and UUV

A movement obstacle and obstacle technology, which is applied in the avoidance of movement obstacle and UUV co-navigation based on virtual puffing, can solve problems such as difficulty in accurately predicting the movement state of movement obstacle.

Active Publication Date: 2016-05-04
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention is for the problem that it is difficult to accurately predict the movement state of the movement obstacle in the same direction movement obs...

Method used

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  • Evading method based on same direction sailing of virtual puffed motion obstacle and UUV
  • Evading method based on same direction sailing of virtual puffed motion obstacle and UUV
  • Evading method based on same direction sailing of virtual puffed motion obstacle and UUV

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specific Embodiment approach 1

[0025] Embodiment 1: A method for avoiding movement obstacles based on virtual puffing and UUV sailing in the same direction includes the following steps:

[0026] The guidance direction refers to the direction of the vector formed by the line from the current position of the UUV to the next non-motion obstacle waypoint. The so-called non-movement obstacle waypoint means that the waypoint is not formed by relying on the movement obstacle, but is the vertex of the static environment information in the environment, such as the vertex of the static target (p 2 ), necessary points, recycling points, etc. When the UUV runs to figure 1 At the position shown, when the No. 1 motion obstacle is encountered, the UUV triggers the dynamic programming algorithm to form a new avoidance route, point p 1 is the waypoint formed by the UUV to avoid the No. 1 movement obstacle and relies on the movement obstacle, and the point p 2 is the static target puffed vertex. So according to the defi...

specific Embodiment approach 2

[0032] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the second step, the method for determining the two positional relationships of UUV chasing dyskinesia and UUV chasing dyskinesia is as follows:

[0033] when when, such as image 3 As shown, it is UUV chasing motion obstacles; when when, such as Figure 4 As shown, it is a motion obstacle pursuit UUV.

[0034] image 3 and Figure 4 The size of the dotted circle outside the middle movement obstacle is the perception radius of the UUV. When the UUV is within the circle, the corresponding movement obstacle is detected by the UUV. The pursuit judgment line 1 divides the possible position of the UUV into two parts according to the forward direction of the movement obstacle. When the UUV is on the back side, it is the UUV chasing the movement obstacle, and when it is on the front side, it is the movement obstacle chasing UUV; the pursuit judgment line is the movement ob...

specific Embodiment approach 3

[0035] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that in Step 3, puffing and rectangular virtual obstacles are used to adjust the heading of the UUV, and the process of avoiding movement obstacles is as follows:

[0036] When the UUV is chasing a motion obstacle in the rear, by image 3 It can be seen that as long as the straight-line distance from the UUV to the movement obstacle M≥R, the UUV is safe. Since the speed and relative position of the UUV and the target are random within a certain range, motion obstacles may not necessarily affect the movement of the UUV, so it is unnecessary to trigger planning as soon as the target is found. The solution designed by the present invention is that if the UUV is chasing after the movement obstacle, when the straight-line distance from the UUV to the movement obstacle is M≤C (C is a constant, generally taken as 2R to 3R), it is considered that the movement obstacle has an impact on the navigation of ...

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Abstract

The invention discloses an evading method based on same direction sailing of a virtual puffed motion obstacle and a UUV. The invention is aimed to solve the problem that the opposite direction sailing motion obstacle evading method which is currently adopted is hard to accurately predict the motion sate of the motion obstacle. The evading method determines that the UVV and the motion obstacle sail in the same direction according to the included angle of the motion obstacle course and a guidance course; the same direction sailing has two position relations: the UUV pursues and attacks the motion obstacle and the motion obstacle pursues and attacks the UUV; when the UUV pursuits and attacks the motion obstacle, puffing and a rectangle virtual obstacle are adopted to adjust the heading of the UUV in order to evade the motion obstacle; when the obstacle pursuits and attacks the UUV, UUV constantly adjusts the motion speed according to the change of the relative position of the UUV and the motion obstacle, and the puffing and the rectangle virtual obstacle are adopted to adjust the heading of the UUV to evade the obstacle. The invention is applicable to the motion obstacle evading of the UUV.

Description

technical field [0001] The invention relates to a method for avoiding motion obstacles and UUV sailing in the same direction based on virtual puffing. Background technique [0002] In recent years, countless achievements have been made on avoidance strategies of dyskinesias, which can be roughly divided into three categories. The first category is to predict the movement trend of dyskinesias first, and then make corresponding countermeasures according to different trends; the second category is to At the moment of dynamic avoidance, the movement obstacle is solidified into a static obstacle avoidance. As long as the frequency of dynamic avoidance is fast, the algorithm can continuously update the planned route until the movement obstacle is avoided; the third type is to use a learning algorithm to enable the UUV to have Intelligent obstacle avoidance ability; [0003] The strategy based on trend prediction can better avoid motion obstacles with relatively stable motion stat...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王宏健张雪莲吴加兴周佳加李村
Owner HARBIN ENG UNIV
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