2D route planning method for UUV to round rectangular obstacles geometrically

Abstract

The invention provides a 2D route planning method for a UUV to round rectangular obstacles geometrically. The method comprises the following steps: S1, reading a route start point Ob, a route end point Oe and the parameters of rectangular obstacles from a mission text; S2, expanding the rectangular obstacles, and calculating the parameters of the rectangular obstacles after expansion; S3, building a rounding point set S, letting a planned current point Oc be the start point Ob, and putting the planned current point Oc in the rounding point set S; S4, if the planned current point Oc is the route end point Oe or the planned current point Oc and the route end point Oe are visible, going to S6, or, executing S5; S5, geometrically rounding the rectangular obstacle nearest to the planned current point Oc to get rounding points, putting the rounding points in the rounding point set S, updating the planned current point Oc, and going to S4; and S6, putting the route end point Oe in the rounding point set S, and ending planning. According to the invention, rectangular obstacles are rounded based on a simple geometric principle, and a UUV can get a safe and collision-free 2D route quickly and efficiently in a complex environment with multiple rectangular obstacles.

Description

technical field [0001] The invention relates to a UUV route planning method, in particular to a two-dimensional route planning method for the UUV to geometrically circumvent a rectangular obstacle. 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. The two-dimensional route planning is the basis of the 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. [0003] At present, there are many UUV route planning methods, for example: the patent document with the appli...

AI Technical Summary

Problems solved by technology

However, how to obtain a collision-free path quickly and feasible in a complex obstacle environment, especially the planning method that is suitable for engineering applications, is still a difficulty

[0004] The background technology closer to the present invention is "underwater vehicle path planning based on geometric algorithm" ("Journal of Naval Engineering University" 2009, 21 (6): 41-44 pages), wherein it is mentioned that geometric algorithm is applied to water However, this document considers circular obstacles, and its method of circumventing obstacles is different from that of the present invention

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