Automatic collision preventing control method of USV

A collision avoidance and controller technology, which is applied in the field of marine search and rescue and survey, can solve problems such as mutual cooperation and cooperation that are rarely involved, and achieve the effects of ensuring safety, reducing workload, and improving intelligence

Inactive Publication Date: 2016-08-17
HARBIN ENG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

At present, most of the researches on collision avoidance of unmanned vehicles focus on the algorithm of coll

Method used

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  • Automatic collision preventing control method of USV
  • Automatic collision preventing control method of USV
  • Automatic collision preventing control method of USV

Examples

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Example Embodiment

[0023] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. The method for autonomous collision avoidance control of a USV described in this embodiment is carried out according to the following steps:

[0024] 1. The camera will capture environmental images within a 360° range centered on the unmanned boat, and transmit the image information to the image recognition system;

[0025] 2. The image recognition system processes the image information and transmits the suspected obstacle information to the obstacle judgment system. At the same time, the range finder measures the distance between the obstacles within 500 meters of the unmanned boat and the unmanned boat, and transmits the information to the unmanned boat. Obstacle judgment system;

[0026] 3. The GPS positioning system locates the current position of the unmanned boat in real time, the communication system establishes contact with other unmanned boats, and obtains the relative position information of the own boat and...

Example Embodiment

[0034] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 2. This embodiment is a further description of the method for autonomous collision avoidance control of a USV described in Embodiment 1. In step 1, the collection period for capturing environmental images is 0.05s, and 10 images are collected each time. The cycle takes 0.5s in total.

Example Embodiment

[0035] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS This embodiment is a further description of a method for autonomous collision avoidance control of a USV described in Embodiment 1 or 2. The measurement period of the rangefinder in step 2 is 0.5s.

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Abstract

The invention relates to the technical field of maritime searches and rescue and surveys, in particular to an automatic collision preventing control method of a USV, and aims at providing the automatic collision preventing control method of the USV. By means of mutual cooperation among all subsystems of a whole collision preventing system, the unmanned surface vehicle (USV) can automatically search for obstacles and implement collision preventing strategies according to distribution of the obstacles when the USV executes tasks such as rescue and surveys. The method comprises the following steps that 1, environmental image information is collected; 2, the distance between the obstacles and the USV is measured; 3, a GPS measures relative position information of the USV with other USVs, and a tachometer measures the movement velocity of the USV and other USVs; 4, an obstacle judgment system processes received information; 5, the sea clutter situation is transmitted to a genetic algorithm controller; 6, the genetic algorithm controller generates the collision preventing strategies. The automatic collision preventing control method of the USV is suitable for the technical field of the maritime searches and rescue and surveys.

Description

technical field [0001] The invention relates to the technical field of marine search and rescue and survey, in particular to a method for autonomous collision avoidance control of a USV. Background technique [0002] An unmanned vehicle (USV) is a small surface platform that integrates autonomous planning, autonomous navigation, and autonomous completion of tasks such as environmental perception and target detection. The marine environment is complex and changeable. If you want to maintain the intelligent navigation of the unmanned vessel, you need to rely on the integration and interaction of its internal information and the external environment. An important prerequisite for this kind of integration and interaction is that the unmanned vehicle can perform autonomous collision avoidance, and can complete the designated mission in a complex marine environment. As an important symbol of the intelligence of unmanned boats, the autonomous collision avoidance technology of unma...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06N3/12G01D21/02
CPCG01D21/02G05D1/0206G06N3/126
Inventor 王元慧迟岑丁福光赵亮博王莎莎赵强张赞杨云龙张博张放
Owner HARBIN ENG UNIV
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