Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Water unmanned ship local hierarchical path planning method based on navigation error constraint

A path planning and error constraint technology, applied in the direction of genetic model, genetic law, data processing application, etc., can solve the problem of not considering the influence of navigation error path planning, not incorporating genetic algorithm, etc.

Active Publication Date: 2017-06-13
SOUTHEAST UNIV
View PDF4 Cites 40 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, there are also some research reports related to the present invention, 1. Research on the layered danger avoidance method of surface unmanned boats under complex sea conditions, Harbin Engineering University, 2014. Although three layered levels were considered in this doctoral thesis, navigation was not considered Influence of errors on path planning
2. A path planning method for unmanned underwater vehicles based on the navigation error space, Journal of Ordnance Engineering, 2014, 35(8): 1243-1250. Although the navigation error is considered in this document, it is only for underwater vehicles Conducted global path planning studies without incorporating genetic algorithms

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Water unmanned ship local hierarchical path planning method based on navigation error constraint
  • Water unmanned ship local hierarchical path planning method based on navigation error constraint
  • Water unmanned ship local hierarchical path planning method based on navigation error constraint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0072] The present invention will be further described below in conjunction with embodiment and accompanying drawing.

[0073] The local hierarchical path planning method of the surface unmanned boat based on navigation error constraints of the present invention comprises the following steps:

[0074] Step 1) Discretize the environment into two-dimensional basic unit grids by using the Cartesian coordinate system and the grid method according to the static obstacle information obtained by the task, the electronic chart and the sensor, and carry out the environmental analysis by marking these grids. Modeling, initialize the starting point position Start and the target point position Goal; the area with obstacles is marked as 1, which means the obstacle grid, and the area without obstacles is marked as 0, which means the free grid; the Cartesian coordinate system is based on the starting point is the origin, and x, y, and z point to the east, north, and sky of the starting point, ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a water unmanned ship local hierarchical path planning method based on the navigation error constraint. The method mainly includes the steps of local static path planning based on the navigation error constraint and combined with a genetic algorithm; local dynamic path planning fused with the maritime affair rule. The hierarchical thinking is adopted, local path planning is divided into two levels of static path planning and dynamic path planning, the static barrier avoiding problem is solved, and the dynamic barrier avoiding problem is also solved. According to static path planning based on the navigation error constraint and combined with the genetic algorithm, adverse influences of navigation errors on path selection are reduced, and the safety of path planning is improved; according to dynamic path planning based on the marine affair rule, the dynamics constraint of a water unmanned ship is considered, and the feasibility of path planning is improved.

Description

technical field [0001] The invention relates to a local layered path planning method for an unmanned water surface boat based on navigation error constraints, and belongs to the technical field of path planning for an unmanned water surface boat. Background technique [0002] With the rapid development of science and technology, maritime intelligent transportation, as an important part of my country's science and technology strategy, is mainly used to realize the automation of ship navigation and the intelligence of maritime traffic management. Therefore, as an individual ship in the maritime traffic system, it is necessary to study the sailing path of the unmanned surface vehicle. Path planning is an important research field of surface unmanned vehicles, and it is a prerequisite for surface unmanned vehicles to complete cruise tasks safely. In recent years, the path planning of surface unmanned vehicles has become a research hotspot in maritime intelligence. [0003] Ther...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06Q10/04G06N3/12
CPCG06N3/126G06Q10/047
Inventor 程向红刘钰
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com