A two-level autonomous obstacle avoidance method for unmanned boats at high speed

Abstract

A secondary autonomous obstacle avoidance system and obstacle avoidance method for an unmanned boat at high speed, providing an embedded system for AIS equipment, microwave radar, millimeter wave radar, laser radar, and unmanned boat Type engineering control machine and hull control module, as well as using AIS equipment and microwave radar, millimeter wave radar and laser radar to detect long-distance and short-distance obstacle targets, and adopt different obstacle avoidance methods. The invention can reduce the extra consumption caused by the obstacle avoidance of the unmanned boat on the premise of ensuring the safe driving of the unmanned boat, and further effectively improve the effective speed and range of the unmanned boat, and the effect is remarkable.

Description

technical field [0001] The invention relates to the technical field of unmanned boats, in particular to an obstacle avoidance system for an unmanned boat, in particular to a secondary autonomous obstacle avoidance system for an unmanned boat at high speed. Background technique [0002] In recent years, with the continuous development of unmanned equipment technology, unmanned boats, as unmanned equipment mainly used for surface work, have also achieved a high degree of research. Domestic and foreign companies and scientific research institutions have successively developed many types of unmanned boats. to meet various needs. Common unmanned boats are mostly used for water quality monitoring, seabed surveying and mapping, and detection of buried objects on the seabed. The speed requirements for unmanned boats are not high, but high-speed unmanned boats are required to complete corresponding tasks in areas such as sea surface patrol and suspicious ship follow. For unmanned bo...

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Problems solved by technology

[0003] Traditional unmanned boats generally use laser and other equipment to avoid obstacles. When obstacles are detected, the original route is abandoned and re-planned, bypassing obstacles to continue forward. However, due to the high speed of high-speed unmanned boats, laser sensors monitor obstacles The effective distance is relatively short. If the traditional solution is adopted, when the laser sensor detects an obstacle, it is already difficult to avoid the obstacle, which is likely to cause accidents and bring danger.

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