A Motion Planning Method for Unmanned Vehicle Based on Trajectory Unit

A technology of motion planning and unmanned boats, applied in data processing applications, predictions, instruments, etc., can solve the problems of low controllability of unmanned boats and low degrees of freedom, and achieve the effect of solving the combination problem

Active Publication Date: 2022-05-06
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.

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  • A Motion Planning Method for Unmanned Vehicle Based on Trajectory Unit
  • A Motion Planning Method for Unmanned Vehicle Based on Trajectory Unit
  • A Motion Planning Method for Unmanned Vehicle Based on Trajectory 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 invention discloses a motion planning method for an unmanned boat based on a trajectory unit. The method includes the following steps: 1) determining the starting point and end point of the motion path of the unmanned boat; 2) determining the real-time path point and bow of the unmanned boat. 3) According to the real-time waypoint and heading angle of the unmanned boat, and the trajectory unit of the unmanned boat movement, obtain the reachable waypoint; 4) calculate the path cost for all the reachable waypoints, Obtain the position of the next waypoint and the corresponding heading angle; 5) judge whether the waypoint is the end point of the motion path, if it is the end point, then output the final path, otherwise, use the waypoint and the corresponding heading angle as unmanned The real-time waypoint and heading angle of the boat, go to step 2). The method of the invention establishes the trajectory unit model of the unmanned boat, and proposes a motion planning algorithm of the unmanned boat based on the trajectory unit, so that the planned path is closer to the actual navigation requirements 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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Patent Type & Authority Patents(China)
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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