A method for evaluating autonomous performance of unmanned boats

Abstract

A method for evaluating the autonomous performance of an unmanned vehicle, comprising the following steps: 1) test tool preparation; 2) water area selection; 3) performance evaluation, including autonomous path planning performance evaluation, autonomous path tracking performance evaluation and autonomous collision avoidance performance evaluation; 4 ) using the following dimensionless formulas to evaluate autonomous path planning performance, autonomous path tracking performance, and autonomous collision avoidance performance respectively. At the same time, by repeating autonomous path planning, autonomous path tracking, and autonomous collision avoidance for n times, the final autonomous path planning performance, autonomous path Tracking performance, autonomous collision avoidance performance. In the present invention, the length and time, the trajectory error sum and time, and the trajectory length and time that have been converted into dimensionless parameters are proportionally combined, and the weight distribution combination is used to carry out comprehensive evaluation of the autonomous performance of the unmanned boat, and a specific evaluation process and evaluation method are proposed. Concise and easy, scientific and reasonable.

Description

technical field [0001] The invention belongs to the technical field of independent performance research and design of an unmanned surface unmanned boat, and in particular relates to an autonomous performance evaluation method of an unmanned unmanned boat. Background technique [0002] As a kind of unmanned ship, the surface unmanned ship has the characteristics of small size, fast speed, strong maneuverability, modularization, etc. It can be used to perform tasks that are dangerous and not suitable for manned ships. Surface unmanned boats are gaining more and more attention in the military and civilian fields, and the level of autonomy, especially the performance of autonomous path planning, autonomous path tracking, and autonomous collision avoidance, is an important factor that determines its engineering application. It is difficult to evaluate the autonomous performance of unmanned boats such as autonomous path planning, autonomous path tracking, and autonomous collision ...

AI Technical Summary

Problems solved by technology

[0002] As a kind of unmanned ship, the surface unmanned ship has the characteristics of small size, fast speed, strong maneuverability, modularization, etc. It can be used to perform tasks that are dangerous and not suitable for manned ships. Surface unmanned boats are gaining more and more attention in the military and civilian fields, and the level of autonomy, especially the performance of autonomous path planning, autonomous path tracking, and autonomous collision avoidance, is an important factor that determines its engineering application. It is difficult to evaluate the autonomous performance of unmanned boats such as autonomous path planning, autonomous path tracking, and autonomous collision avoidance, which is not conducive to the improvement and promotion of autonomous performance of unmanned boats. Therefore, it is necessary to conduct research on the evaluation methods of autonomous performance of unmanned boats. , put forward a scientific and reasonable test process and evaluation method that can be implemented on the lake or at sea, with simple operation, convenient support, and scientific and reasonable, so as to carry out independent performance evaluation of unmanned boats developed by different units, fully understand the level of autonomy of domestic unmanned boats, and at the same time As a means of evaluation in a related unmanned vehicle competitive development program

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