A method for controlling the autonomous return of an unmanned ship

Abstract

The invention discloses an autonomous homeward bound system of an unmanned ship and a work method thereof. The system comprises a control panel, a GNSS inertial navigation system, a communication system, and an upper computer. The control panel is connected with the GNSS inertial navigation system and the communication system. Two homeward bound modes in different environments are used in the system, and through independent decision-making of the control panel, high intelligence of autonomous homeward bound of an unmanned ship is realized. A task execution water area is meshed, and a plurality of homeward bound paths are provided, an optimal scheme can be selected in the neighbourhood, so unpredictable obstacle problems occur in the way of homeward bound from one initial point are solved, and real-time property of homeward bound is improved. The unmanned ship sails in an unknown environment, and in a process of generating a homeward bound path, the homeward bound path is determined in the path which is sailed, tortuous spiral paths are removed, and curve fitting is performed on discrete waypoints, to obtain a shortest optimal homeward bound path. The system realizes simple path planning, and reduces calculated amount.

Description

technical field [0001] The invention belongs to the field of unmanned ships, and in particular relates to an autonomous return control method of an unmanned ship. Background technique [0002] In recent years, robotics technology has developed rapidly, and a large number of unmanned devices such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships have emerged that are suitable for different environments. Unmanned ships are small in size and highly maneuverable, and have been widely used in various measurements and inspections in rivers, lakes, offshore and other waters. Unmanned ships often work in complex navigation environments, and need to return to the voyage after completing tasks or encountering various problems during navigation. At present, there are many ways for unmanned ships to return, but there are the following problems: [0003] 1. The autonomous return system of unmanned ships is not perfect, some require manual intervention, the intelligence...

AI Technical Summary

Problems solved by technology

[0003] 1. The autonomous return system of unmanned ships is not perfect, some require manual intervention, the intelligence is low, and the autonomous return mode is relatively simple

[0004] 2. The existing self-returning unmanned ships only set a starting point as the return target point, without considering the actual navigation environment

[0005] 3. Many unmanned ships return without considering the unknown environment, the path planning is more complicated, and the amount of calculation is larger

Images