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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

Inactive Publication Date: 2017-08-11
HARBIN ENG UNIV
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Problems solved by technology

However, there are no relevant reports in the literature at home and abroad that use the improved ant colony algorithm to plan the safe route of the unmanned boat.

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  • Method for avoiding unmanned ship collision based on improved ant colony algorithm
  • Method for avoiding unmanned ship collision based on improved ant colony algorithm
  • Method for avoiding unmanned ship collision based on improved ant colony algorithm

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Embodiment Construction

[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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Abstract

The invention provides a method for avoiding unmanned ship collision based on the improved ant colony algorithm. The method comprises the following steps: Step 1) obtaining the position of an obstacle and the position attitude information of the unmanned ship, and carrying out the filtering and space-time aligning to obtain the precise position attitude of the unmanned ship and the precise position of the obstacle; Step 2) based on the sailing speed and the precise position attitude in the sailing process of the unmanned ship as well as the accurate position evaluation of the obstacle, creating a collision risk model; and screening the pre-planned routes; and Step 3) using the improved ant colony algorithm to plan the track of the unmanned ship. The method of the invention effectively makes the unmanned ship more intelligent and reduces the workload of the operation people. In the invention, an improved ant colony algorithm is used to plan the navigation path of the unmanned ship, which improves the quality of the planed path. With the method, when the unmanned ship executes the rescue and inspection tasks, it can detect the obstacle, and based on the distribution of the obstacle, carries out the avoiding strategy to ensure the safe travels of the unmanned ship.

Description

technical field [0001] The invention relates to a collision avoidance method for an unmanned boat. Background technique [0002] An unmanned surface vessel (USV for short) is an unmanned surface vessel. Primarily used to perform dangerous and tasks unsuitable for manned vessels. Generally equipped with advanced control systems, sensor systems, and communication systems, it can perform a variety of tasks, such as search and rescue, navigation, and hydrographic surveys. One of the important prerequisites for completing these tasks is that unmanned boats can avoid collisions. The collision avoidance technology of unmanned boats not only reflects the level of intelligence of maritime unmanned boats to a certain extent, but also is a key technical field of unmanned boats. one of the important research contents. However, there are no relevant reports in the literature at home and abroad that use the improved ant colony algorithm to plan the safe route of the unmanned vessel. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06N3/00
CPCG05D1/0206G06N3/006
Inventor 王元慧孙嘉霖付明玉王莎莎沈佳颖包澄澄
Owner HARBIN ENG UNIV
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