Path tracking obstacle avoidance and guidance method

Abstract

The invention discloses a path tracking obstacle avoidance and guidance method which comprises the following steps: (1) starting a guidance mode and executing a path plan to obtain a time sequence signal of a GVS (ground vehicle system) motion state variable; (2) executing a path tracking guidance algorithm, so as to obtain psidp and udp of DVSs; (3) monitoring a minimum distance lmin from the DVSs to the border of a safety circle family of an obstacle in real time and determining psid of the DVSs according to lmin; (4) calculating ud and rd of the DVSs; (5) judging a distance between the DVSs, wherein the GVS motion state keeps unchanged if the distance between the DVSs is equal to or greater than a threshold distance, otherwise, information of the GVS motion state moves downwards according to a time sequence; (6) substituting DVS guidance information into a control loop and updating DVS position information at a next time point; (7) measuring a position of an actual ship, judging whether the ship arrives at a destination, ending sailing if 'yes' and updating the time to enter into the step (2) if 'no'. According to the method, the guidance algorithm and an obstacle avoidance algorithm are combined with each other in a ship sailing process, so that a ship can be more accurately controlled to realize guidance and obstacle avoidance.

Description

technical field [0001] The invention relates to the application fields of ship control engineering and ship automation navigation equipment, in particular to a path tracking obstacle avoidance guidance algorithm. Background technique [0002] Guidance algorithm is an indispensable technology to solve the problem of ship track keeping. The traditional waypoint-based ship path planning requires the ship to automatically sail along the set route, which is attributed to the guidance problem of path tracking. [1] . However, the marine environment is variable, and ships often have obstacle avoidance behaviors during navigation, especially when passing through fishing areas and passing through narrow or busy waterways, which requires ship guidance algorithms to have obstacle avoidance functions. The obstacle avoidance algorithm originated from the research of robot control. Commonly used methods include potential field method, speed obstacle avoidance method and dynamic window met...

AI Technical Summary

Problems solved by technology

Literature [9] proposed a guidance algorithm with path planning and multi-objective obstacle avoidance capabilities based on the Runge-Kutta method, but it cannot be applied to large merchant ships with underactuated characteristics.

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