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Two-dimensional route planning method for UUV to geometrically bypass circular barriers

A circular obstacle, geometric detour technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., to achieve the effect of simple principle, less planning information, and high planning efficiency

Active Publication Date: 2016-08-10
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there are many UUV route planning methods, but how to obtain a collision-free path quickly and feasible in a complex obstacle environment, especially if the planning method is suitable for engineering applications, is still a difficult point

Method used

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  • Two-dimensional route planning method for UUV to geometrically bypass circular barriers
  • Two-dimensional route planning method for UUV to geometrically bypass circular barriers
  • Two-dimensional route planning method for UUV to geometrically bypass circular barriers

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Embodiment Construction

[0039] The following examples illustrate the present invention in detail.

[0040] combine figure 1 An environment model for UUV 2D route planning is introduced.

[0041] The environment model of route planning in the present invention adopts a two-dimensional geometric space model. Let the starting point of the planned route be O b , the end point of the route is O e , O b and O e Respectively expressed in two-dimensional coordinates as:

[0042] o b =(x ob ,y ob );O e =(x oe ,y oe ) (1)

[0043] In addition, it is assumed that the current planning point used in each step of the route planning process is O c , expressed in two-dimensional coordinates as:

[0044] o c =(x oc ,y oc ) (2)

[0045] Suppose there are a certain number of circular obstacles in the two-dimensional geometric space, such as figure 1 As shown, let the circular obstacle be Z circ , which is parameterized as:

[0046] Z circ =(x circ ,y circ ,r) (3)

[0047] In the formula, (x ...

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Abstract

The invention provides a two-dimensional route planning method for a UUV to geometrically bypass circular barriers. The method comprises the following steps: 1, reading a route origin Ob, a route terminal point Oe and parameters of each circular barrier from a mission text; 2, performing expansion processing on each circular barrier, and calculating the parameters of each circular barrier after expansion; 3, establishing a bypassing point set S, making a planning current point Oc to be a starting point Ob, and placing the starting point in the bypassing point set S; 4, if the planning current point Oc is the route terminal point Oe, or the planning current point Oc and the route terminal point O2 are visual, skipping to the sixth step, and otherwise, executing the fifth step; 5, performing geometric bypassing on a circular barrier closest to the planning current point Oc, obtaining a bypassing point, placing the bypassing point in the bypassing point set S, updating the planning current point Oc, and skipping to the fourth step; and 6, placing the route terminal point Oe in the bypassing point set S, and at the moment, planning ends. According to the invention, bypassing of the circular barriers is realized through a simple geometric principle, and the UVV can rapidly and efficiently obtain a safe bump-free two-dimensional route in a complex environment with multiple circular barriers.

Description

technical field [0001] The present invention relates to a UUV route planning method, in particular to a two-dimensional route planning method for the UUV to geometrically circumvent circular obstacles. Background technique [0002] Route planning is one of the key technologies of Unmanned Underwater Vehicle (UUV), and it is an important embodiment of UUV's autonomy. Route planning refers to planning a non-collision path starting from the starting point, bypassing all obstacles and reaching the destination in the known obstacle environment. According to the spatial dimension, route planning can be divided into two-dimensional route planning and three-dimensional route planning. Among them, two-dimensional route planning is the basis of three-dimensional route planning, and it is more widely used in UUV, which is a hot spot in the research of UUV route planning technology. At present, there are many UUV route planning methods, but how to obtain a collision-free path quickly ...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 陈涛徐达张伟张宏瀚张勋周佳加
Owner HARBIN ENG UNIV
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