An autonomous collision avoidance system and method for a group of surface unmanned boats

Abstract

The invention provides an autonomous collision-avoidance system and method for a surface unmanned vehicle group. The autonomous collision-avoidance system includes a motion manipulation module, a wireless communication module, a data collection processing module and a collision avoidance decision-making module, and can completing navigation attitude information acquisition, analysis and processingof surrounding unmanned vehicles and the development of a collision avoidance decision; respective functions of the motion control module, the wireless communication module, the data collection and processing module and the collision avoidance decision-making module are used to achieve the function of collision-avoidance of the unmanned vehicle group from the unmanned vehicle group in an open water area; and a dynamic grouping algorithm and the same group following algorithm are used to complete unmanned vehicle traffic flow generation and unmanned vehicle group avoidance in a collision avoidance process, and finally each unmanned vehicle can safely pass. The invention can realize the collision avoidance of the unmanned surface vehicle in the complex situation, and adjusts the avoidance decision according to the change of the navigation situation, thereby realizing the autonomous collision avoidance of the unmanned vehicle.

Description

technical field [0001] The invention belongs to the technical field of maritime cruising and search and rescue, and in particular relates to an autonomous collision avoidance system and method for a group of surface unmanned boats. Background technique [0002] Due to the huge application potential of Unmanned Surface Vehicles, researchers have never stopped their unmanned research, especially with the development of emerging technologies such as intelligent control and motion planning, unmanned surface vehicles with certain autonomous navigation capabilities Human boats have played an important role in marine scientific research, maritime management, water search and rescue, and are also used in military reconnaissance and attack missions. Autonomous collision avoidance is of great significance to ensure the safety of surface unmanned boats. Over the years, autonomous collision avoidance centered on a single unmanned boat has achieved certain research results, but the resea...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an autonomous collision avoidance system and method for swarm surface unmanned boats to solve the problems of slow calculation and inability to dynamically update collision avoidance decisions in traditional collision avoidance methods. Collision avoidance issues such as effective use of space in complex encounter situations, etc., to achieve collision avoidance for swarms of unmanned boats

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