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An improved ant colony optimization-based collision avoidance planning method for a USV in an unknown static obstacle environment

An optimization method and collision avoidance technology, applied in design optimization/simulation, two-dimensional position/course control, instruments, etc., can solve problems such as insufficient search capabilities of collision avoidance planning methods, and achieve the effect of improving real-time performance

Active Publication Date: 2019-04-26
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 in an unknown static obstacle environment, and solve the problems of insufficient search ability of the USV collision avoidance planning method in a static unknown environment.

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  • An improved ant colony optimization-based collision avoidance planning method for a USV in an unknown static obstacle environment
  • An improved ant colony optimization-based collision avoidance planning method for a USV in an unknown static obstacle environment
  • An improved ant colony optimization-based collision avoidance planning method for a USV in an unknown static obstacle environment

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] A USV dynamic collision avoidance planning method based on an improved ant colony optimization algorithm, comprising the following steps:

[0041] Step 1: Build a global coordinate system and a local coordinate system, and establish a navigation radar simulation model;

[0042] 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.

[0043] The local coordinate system is divided into a boat-borne coordinate system and a sensor coordinate system. The boat-borne coordinate system is a rectangular coordinate system established with the USV as the origin, and the sensor coordinate system is established with the navigation radar as the pole and the USV forward direction as the polar axis. Polar coordinate system.

[0044] The detec...

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Abstract

The invention discloses an improved ant colony optimization-based collision avoidance planning method for a USV in an unknown static obstacle environment, and belongs to the technical field of water surface unmanned ship collision avoidance planning. The method comprises the following steps: firstly, constructing a global coordinate system and a local coordinate system, and establishing a navigation radar simulation model; Designing a rolling optimization window for real-time collision avoidance planning; Then constructing an environment model by adopting a view method; Designing an improved ant colony optimization method for real-time collision avoidance planning; And finally, inputting navigation radar detection information and target point information into a USV static collision avoidance planner based on an improved ant colony optimization method, and obtaining an adjustment instruction of bow turning and speed of the USV at the next moment. According to the method, a rolling optimization window method and an improved ant colony optimization method are combined, so that the real-time performance of USV online planning is improved; For the slow convergence speed of the ant colony optimization method, an improved pseudo-random proportion rule is provided to select ant state transition; The global pheromone is updated by referring to the wolf pack distribution principle and the maximum and minimum ant system, so that the search is prevented from falling into 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 in an unknown static obstacle environment. 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 complete ...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G06F17/50G06N3/00G05D1/02
CPCG05D1/0206G06N3/006G06Q10/047G06F30/20
Inventor 王宏健郭峰班喜程练青坡刘超伟
Owner HARBIN ENG UNIV
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