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Unmanned vehicle motion planning method based on track unit

A technology of motion planning and unmanned boats, which is applied in the direction of ship traffic control, instruments, traffic control systems, etc., and can solve the problems of low degree of freedom in the controllability of unmanned boats

Active Publication Date: 2018-11-23
WUHAN UNIV OF TECH
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Problems solved by technology

However, due to the low controllability and high degree of freedom of the unmanned vehicle, when it is used as the research object, it should be transformed from a mass point to an underactuated rigid body for research.

Method used

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  • Unmanned vehicle motion planning method based on track unit
  • Unmanned vehicle motion planning method based on track unit
  • Unmanned vehicle motion planning method based on track unit

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Embodiment Construction

[0048] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0049] Such as figure 1 As shown, a trajectory unit-based motion planning method for unmanned boats, including the following steps:

[0050] 1) Determine the starting point and end point of the motion path of the unmanned vehicle;

[0051] 2) Determine the real-time waypoint and heading angle where the UAV is located;

[0052] 3) According to the real-time waypoint and heading angle of the unmanned boat, and the trajectory unit of the unmanned boat movement, the reachable waypoint is obtained;

[0053] The generation method of the track unit is as follows:

[0054] 3.1) Use the MMG model to model the motion of the unman...

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Abstract

The present invention discloses an unmanned vehicle motion planning method based on a track unit. The method comprises the following steps of: 1) determining a starting point and a destination of an unmanned vehicle motion path; 2) determining a real-time path point and a heading angle where the unmanned vehicle is located; 3) obtaining reachable path points according to the real-time path point and the heading angle where the unmanned vehicle and the track unit of the unmanned vehicle motion; 4) performing path cost calculation for all the reachable path points to obtain the position of the next path point and a corresponding heading angle; and 5) determining whether the path point is a destination of a motion path or not, if yes, outputting a final path, or else, taking the path point and the corresponding heading angle as the real-time path point and the heading angle where the unmanned vehicle is located, and turning to the step 2). The method establishes an unmanned vehicle trackunit model and provides an unmanned vehicle motion planning algorithm based on the track unit to allow the planning path to be closer to the actual navigation requirement in the actual navigation process.

Description

technical field [0001] The invention relates to maritime intelligent traffic technology, in particular to a trajectory unit-based motion planning method for unmanned boats. Background technique [0002] The development of artificial intelligence and the development of marine resources make unmanned surface vehicles (USV) more and more undertake various water tasks. As an important part of the autonomy of the unmanned vehicle, path planning is the prerequisite for the completion of various water tasks. However, due to the low controllability and high degree of freedom of the unmanned vehicle, when it is used as a research object, it should be changed from a mass point to an underactuated rigid body for research. Correspondingly, its path planning problem should also be changed from route planning to motion planning. Different from the former, motion planning not only considers the constraints of the planning space, but also discusses the planning behavior in detail. Wherea...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G08G3/00
CPCG06Q10/04G08G3/00
Inventor 肖长诗杜哲顾尚定文元桥周春辉张帆黄亮钟希
Owner WUHAN UNIV OF TECH
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