High-speed emergency obstacle avoidance method based on model predictive control of unmanned surface vehicle model

Abstract

The invention discloses a high-speed emergency obstacle avoidance strategy based on the model predictive control of the unmanned surface vehicle model. The strategy is divided into a path planning navigation strategy for reaching the target point and an emergency obstacle avoidance strategy. The navigation strategy is enabled when there are no obstacles or not reaching the obstacle avoidance rangeand there is a risk of collision or ending the obstacle avoidance. The obstacle avoidance strategy is enabled when the obstacle avoidance range is reached and there is a risk of collision. However, traditional local obstacle avoidance methods rarely take into account the effects of hull dynamics and are only suitable for low-speed and non-emergency scenes. The emergency obstacle avoidance strategy considers the influence of hull dynamics on the navigation and the obstacle avoidance of the unmanned surface vehicle, which makes the control of the unmanned surface vehicle closer to the real physical scene, thereby effectively solving the problem that the output state of the navigation and the obstacle avoidance is unachievable by the controller. The model predictive control is used and the accurate prediction of the future behavior can be performed by using the model for a forward-looking prediction of the information of the unmanned surface vehicle and the obstacle in the obstacle avoidance process, which makes the effect of the obstacle avoidance more suitable for high speed and emergency scenes.

Description

technical field [0001] The invention relates to a high-speed emergency obstacle avoidance method for a surface unmanned boat, in particular to a high-speed emergency obstacle avoidance method based on model predictive control of a surface unmanned boat hull model. Background technique [0002] Unmanned surface vehicle (USV) is a light intelligent surface vehicle. If it is to ensure that the unmanned surface vehicle can sail safely in the ocean, the unmanned surface vehicle must be able to autonomously avoid obstacles such as islands, reefs, lighthouses, buoys, and sailing ships encountered during navigation. When the obstacle is static, it is called static obstacle avoidance; when the obstacle is dynamic, it is called dynamic obstacle avoidance, and the dynamic obstacle avoidance algorithm can also be used for static obstacle avoidance. Sensors are difficult to accurately obtain the movement information of dynamic obstacles, and cannot accurately predict the movement trend ...

AI Technical Summary

Problems solved by technology

[0004] However, the traditional local obstacle avoidance method rarely takes into account the influence of hull dynamics, and is only suitable for low-speed (below 20 knots) non-emergency scenarios

If it is applied at high speed (about 40 knots), it is easy to have obstacle avoidance output that cannot be achieved by hull dynamics, and it will cause left and right swing instability and other phenomena.

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