Method for avoiding unmanned ship collision based on improved ant colony algorithm
An ant colony algorithm and technology of unmanned boats, applied in the field of collision avoidance of unmanned boats, to achieve quality improvement, reduce workload, and improve intelligence
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[0047] The present invention will be further described below in conjunction with the accompanying drawings.
[0048] The purpose of the present invention is achieved by the following steps:
[0049] 1. Acquisition of obstacle position and acquisition of position and attitude of unmanned vehicle
[0050] The measurement system on the unmanned boat is mainly composed of two parts: the position reference system and the sensor reference system, which respectively measure the position and attitude of the unmanned boat and the position of obstacles during navigation. Taking into account the inconsistency of different sensors in time and pace, as well as measurement errors and various uncertain factors. The data from different sensors are filtered, fused, and space-time aligned to obtain more accurate position and attitude information.
[0051] 2. Determine when the unmanned vehicle takes collision avoidance measures
[0052] According to the "1972 International Regulations for Pr...
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