UUV 2D sea route planning method based on geographical circumvention theory

A geometric circumnavigation and route planning technology, applied in two-dimensional position/course control, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problem of only considering circular obstacles and obstacle detour methods In order to achieve the effect of less planning information, improve route tracking effect and high planning efficiency

Active Publication Date: 2016-09-07
HARBIN ENG UNIV
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Problems solved by technology

But this document only considers the circular obstacle, and the circumvention method to the obstacle is completely different from the present invention

Method used

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  • UUV 2D sea route planning method based on geographical circumvention theory
  • UUV 2D sea route planning method based on geographical circumvention theory
  • UUV 2D sea route planning method based on geographical circumvention theory

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Embodiment Construction

[0060] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.

[0061] combine Figure 1a-Figure 1b An environment model for UUV 2D route planning is introduced.

[0062] 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:

[0063] o b =(x ob ,y ob );O e =(x oe ,y oe ) (1)

[0064] 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:

[0065] o c =(x oc ,y oc ) (2)

[0066] It is assumed that there are a certain number of obstacles in the two-dimensional geometric space, and the obstacles are represented by circles and rectangles (such as Figure 1a-Figure 1b shown).

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Abstract

The invention provides a UUV 2D sea route planning method based on the geography circumvention theory. The method comprises the following steps: 1. reading parameters of a sea route origin point Ob, a sea route terminal point Oe and each barrier from a mission text; 2. conducting expansion processing on barriers, calculating parameters of each expanded barrier; 3. establishing a set of circumvention points S; 4. if the current point Oc is planned to be the sea route terminal point Oe, or the current point Oc and the sea route terminal point Oe are planned to be visible, turning to step 6, and if not, executing the step 5; 5. searching for the barrier which is nearest to the current point Oc, based on the shape of the barrier, circumventing the barrier, obtaining circumvention points and putting the circumvention points to the set of the circumvention points S, updating the planning of the current point Oc, turning to the step 4; 6. putting the sea route terminal point Oe to the set of the circumvention pints S; 7. conducting subduction on the set of circumvention points S, which completes the planning. According to the invention, the method implements circumvention of the barriers through a simple geography theory, and enables the UUV to obtain a safe and untouched 2D sea route in a rapid and efficient manner in an environment with complex barriers.

Description

technical field [0001] The present invention relates to a UUV route planning method, in particular to a UUV two-dimensional route planning method based on the principle of geometric detour. 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 and feasible...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 陈涛徐达王玉柱周佳加徐健张宏瀚
Owner HARBIN ENG UNIV
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