Automatic collision preventing control method of USV

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...

AI Technical Summary

Problems solved by technology

At present, most of the researches on collision avoidance of unmanned vehicles focus on the algorithm of collision avoidance, but rarely involve the cooperation among subsystems of the whole collision avoidance system.

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