UUV dynamic obstacle avoidance method based on speed obstruction method
A speed obstacle and dynamic obstacle avoidance technology, which is applied in non-electric variable control, height or depth control, vehicle position/route/height control, etc., can solve the problems of poor accuracy of moving obstacles, reduce the impact of collisions, and improve avoidance. The effect of touching safety and avoiding conservative problems
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[0022] Specific implementation mode one, combination figure 1 , figure 2 with image 3 To explain this embodiment, the UUV dynamic obstacle avoidance method based on the speed obstacle method described in this embodiment, the specific steps of the method are:
[0023] Step 1: Convert the movement uncertainty of the obstacle into position uncertainty to obtain the obstacle O i Estimated lower limit of radius R ro And obstacle O i Upper limit estimate of the radius
[0024] Obtain obstacle O according to the uncertainty of obstacle movement i Estimated lower limit of radius R ro : R ro =R o +R r +δ p
[0025] Obstacle O i Upper limit estimate of the radius
[0026] δ p Is the estimated deviation of the obstacle radius, ΔR o Is the estimated upper limit of the uncertainty of obstacle movement, R safe Is the safety distance, R o Is the obstacle radius, R r Is the UUV radius;
[0027] Estimate the lower limit based on the obstacle radius R ro , Calculate the minimum safety angle Accord...
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Specific embodiment:
[0059] UUV sails from the starting point (0, 0) to the end point (450, 450), starting course at 45°, and designing 3 moving obstacles that cross the UUV O 1 ,O 2 ,O 3 , Suppose the moving obstacle is set as a rectangle. Obstacle location and motion information are unknown, using forward-looking sonar as the collision avoidance sensing device. Use formula (1) to get the speed hazard of moving obstacles, use formula (3) to get the reachable speed space of moving obstacles, and use formula (13) to get the coefficients in the optimized objective function. Then, the speed obstacle method is used to find the point with the smallest value of the objective function as the next waypoint to gradually realize the UUV route planning. Simulation trajectory such as Figure 4 Shown.
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