Multi-unmanned boat collaborative path planning method

Abstract

The invention discloses a multi-unmanned-boat collaborative path planning method. The method comprises the following steps: S1, according to a task requirement and a navigation environment, adopting Q-learning algorithm to carry out primary path planning on a single unmanned boat and shortening the path; S2, analyzing the initial path of each unmanned boat, and judging whether collision exists between unmanned boats or not on the basis of a time difference value; S3, generating a plurality of unmanned boats which can collide with each other, giving priority to the movement time, and completingcollaborative collision avoidance of the unmanned boats to obtain a final path; S4, fitting broken line sections into a curve section through a data interpolation method, and achieving the smooth processing of the path; ending the process. According to the invention, the obstacle avoidance, the road finding, the mutual collision avoidance and the like for multiple unmanned boats can be completedefficiently and flexibly. Meanwhile, the method is safe, stable and reliable.

Description

technical field [0001] The invention belongs to the field of path planning of unmanned boats, in particular to a collaborative path planning method for multiple unmanned boats. Background technique [0002] An unmanned boat is a small surface platform with autonomous navigation capabilities and other tasks. Compared with conventional ships, it has a high level of intelligence, fast speed, and small size, and plays a very important role in offshore operations. When the unmanned boat is equipped with corresponding sensors and weapons, it can undertake various tasks such as surveillance and reconnaissance, mine clearance, precision strike, search and rescue, hydrographic survey, relay communication, etc. [0003] According to the requirements, the unmanned boat can perform a variety of tasks by installing different modules. However, the sensors and equipment that can be carried by a single unmanned boat are limited. Sometimes the execution of the same task requires multiple un...

AI Technical Summary

Problems solved by technology

However, the sensors and equipment that can be carried by a single unmanned boat are limited. Sometimes the execution of the same task requires multiple unmanned boats to operate at the same time, and different stages and areas may be allocated for operations.

At the same time, according to the task requirements, the unmanned boat needs to go to different operating areas to perform tasks. In the process, there may be various obstacles such as ships and buoys in the sea area. At the same time, multiple unmanned boats performing missions at the same time may also collide with each other during the journey

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