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USV collision avoidance planning method based on improved ant colony optimization under dynamic obstacle online perception

An optimization method and technology of international maritime collision avoidance rules, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control and other directions, which can solve problems such as insufficient search ability of collision avoidance planning methods

Active Publication Date: 2019-03-12
HARBIN ENG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to provide a USV collision avoidance planning method based on improved ant colony optimization under online perception of dynamic obstacles, to solve the problem of insufficient search ability of the USV collision avoidance planning method in a dynamic unknown environment.

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  • USV collision avoidance planning method based on improved ant colony optimization under dynamic obstacle online perception
  • USV collision avoidance planning method based on improved ant colony optimization under dynamic obstacle online perception
  • USV collision avoidance planning method based on improved ant colony optimization under dynamic obstacle online perception

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] A USV dynamic collision avoidance planning method based on an improved ant colony optimization algorithm, comprising the following steps:

[0055] Step 1: Construct the global coordinate system and local coordinate system, and establish the AIS system simulation model;

[0056] The global coordinate system adopts the north-east coordinate system, the upper left corner of the map is the origin, the east direction is the X axis, and the north direction is the Y axis.

[0057] The local coordinate system is divided into a boat-borne coordinate system and a sensor coordinate system. The boat-borne coordinate system is a Cartesian coordinate system established with the USV as the origin, and the sensor coordinate system is established with the AIS system as the pole and the USV forward direction as the polar axis. Polar coordinate system.

[0058] The number of ships...

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Abstract

The invention provides a USV collision avoidance planning method based on improved ant colony optimization under dynamic obstacle online perception, and belongs to the technical field of collision avoidance planning of unmanned surface vehicles. For the problem of the insufficient search ability of a collision avoidance planning algorithm of a USV in a dynamic unknown environment, a real-time USVcollision avoidance planning method based on an improved ant colony optimization algorithm. Firstly, in order to meet <International Regulations for Preventing Collisions at Sea>, a reverse eccentricexpansion method is designed to expand dynamic obstacles; secondly, based on a motion velocity model and the improved ant colony optimization algorithm, USV collision avoidance planning in a known dynamic environment is converted into a multi-condition objective optimization problem in a known instantaneous static environment; lastly, for the problem of slow convergence speed of the ant colony optimization algorithm, an improved pseudo-random proportion rule was proposed to select ant state transition, and the global pheromone is updated by using a wolf pack allocation principle and a maximum-minimum ant system for reference, thereby avoiding the situation that the search falls into in local optimum.

Description

technical field [0001] The invention belongs to the technical field of surface unmanned vehicle collision avoidance planning, and in particular relates to a USV collision avoidance planning method based on improved ant colony optimization under online perception of dynamic obstacles. Background technique [0002] With the rapid development of today's science and technology, maritime intelligent transportation has become an indispensable and important part of the scientific and technological strategic equipment of all countries in the world, and the in-depth study of its intelligent navigation has great strategic significance. As an intelligent marine vehicle, USV has attracted extensive research due to its fast speed, small size, high degree of automation and intelligence. Its collision avoidance planning is not only an important symbol of USV intelligence, but also the core of USV autonomous navigation. Therefore, an important prerequisite for the USV to successfully comple...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0206G01C21/203
Inventor 王宏健郭峰高伟张耕实王莹
Owner HARBIN ENG UNIV
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