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Method and system for planning sea path of unmanned ship based on RRT (rapidly-exploring random tree) algorithm

A technology for path planning and unmanned ships, applied in the direction of navigation calculation tools, measuring devices, instruments, etc., can solve the complex sea environment where obstacles cannot be solved, only consider one starting point and one end point, and the time planned by genetic algorithm Long-term problems, to achieve simple and effective thinking, maintain high efficiency, and achieve simple effects

Inactive Publication Date: 2018-09-07
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

These algorithms have the following shortcomings: they cannot solve the sea environment with many obstacles and complex conditions; the genetic algorithm planning time is relatively long, and the real-time performance is relatively poor
At the same time, for the path planning of unmanned ships on the sea surface, a path may need to reach multiple set points. Therefore, it is of practical significance to further plan an algorithm that can pass through multiple set points. The algorithm has obvious shortcomings in dealing with path planning of multiple target points, and only considers the case of one starting point and one ending point

Method used

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  • Method and system for planning sea path of unmanned ship based on RRT (rapidly-exploring random tree) algorithm
  • Method and system for planning sea path of unmanned ship based on RRT (rapidly-exploring random tree) algorithm
  • Method and system for planning sea path of unmanned ship based on RRT (rapidly-exploring random tree) algorithm

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Embodiment

[0035] Such as Figure 1-Figure 3 As shown, a sea path planning method for unmanned ships based on the RRT algorithm includes the following steps:

[0036] The first step is to obtain the original data of the chart. In this embodiment, the GDAL library is used to analyze the S57 chart. The S57 standard encapsulation format is the ISO / IEC 8211 international standard, and the ISO / IEC 8211 standard is composed of logical records as the basic unit. The first record of ISO8211 is called data descriptive record (DDR), and all subsequent logical records (logical record, LR) are called "data record" (data record, DR), which contains the actual data to be exchanged by the file. The overall information of the file is defined in DDR, including file name, field name, field type, field format and length, relationship between fields, and subfield names. GDAL is an open source library written in C++, which can extract the information of a specific layer in the S57 file. All elements of the...

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Abstract

The invention discloses a method and a system for planning a sea path of an unmanned ship based on an RRT (rapidly-exploring random tree) algorithm. The method comprises the following steps of obtaining data of a sea map, so as to obtain complete information of the sea map; according to the definition of a polygon of the sea map, displaying the conditions of the sea surface, and rasterizing the original vector data, so as to obtain a complete interface of the sea map; enabling a user to set passing points on the interface of the sea map, and planning the path within the preset time threshold value by an improved RRT algorithm, so as to obtain the final asymptotically optimal effective path; converting the final effective path into the practical longitudinal and altitude information, outputting the longitudinal and altitude information of turning points on the path, and providing for a power control system of the unmanned ship to use. The method has the advantages that the RRT algorithmis further improved, the path passing the multiple preset passing points is planned, and a path compression algorithm is applied so as to effectively reduce the path distance.

Description

technical field [0001] The invention relates to the technical field of automatic navigation planning of an unmanned ship, in particular to a sea surface path planning method and system for an unmanned ship based on an RRT algorithm. Background technique [0002] With the rapid development of science and technology, the field of sea navigation of modern unmanned ships is constantly being developed and utilized. Unmanned ships play an unpredictable and important role in autonomous navigation, especially in areas such as sea patrol and cargo delivery. At present, the rise of artificial intelligence promotes the rapid development of unmanned driving technology, and more and more path planning algorithms have been proposed one after another. However, the path planning method for unmanned ships based on sea surface information mainly uses traditional path planning algorithms, such as: artificial potential field method, Dijkstra search algorithm, genetic algorithm, etc. These algo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 刘艳霞陈欣佳洪晓斌
Owner SOUTH CHINA UNIV OF TECH
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