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A Local Hierarchical Path Planning Method for Unmanned Surface Vehicles Based on Navigation Error Constraints

A technology of path planning and error constraints, applied in the direction of genetic rules, genetic models, data processing applications, etc., can solve problems such as uncombined genetic algorithms and the influence of navigation error path planning

Active Publication Date: 2020-09-08
SOUTHEAST UNIV
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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 navigation error space, Acta Armamenta Sinica, 2014, 35(8):1243-1250. Although navigation errors are considered in this document, it is only for underwater vehicles Conducted global path planning studies without incorporating genetic algorithms

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  • A Local Hierarchical Path Planning Method for Unmanned Surface Vehicles Based on Navigation Error Constraints
  • A Local Hierarchical Path Planning Method for Unmanned Surface Vehicles Based on Navigation Error Constraints
  • A Local Hierarchical Path Planning Method for Unmanned Surface Vehicles Based on Navigation Error Constraints

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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,...

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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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06N3/12
CPCG06N3/126G06Q10/047
Inventor 程向红刘钰
Owner SOUTHEAST UNIV
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