Multi-USV-group collaborative collision prevention planning method by considering communication condition

Abstract

The invention belongs to the technical field of USV control, and in particular relates to a multi-USV-group collaborative collision prevention planning method by considering a communication condition.According to the multi-USV-group collaborative collision prevention planning method by considering the communication condition in the invention, in the case of or in the absence of communication, collision prevention planning is assisted by utilization of the intercommunication position, speed, heading information and the like of a communication module, and the static obstacle position, dynamic USV position, speed, heading information and the like detected by a radar in a certain range; therefore, multiple USVs avoid all static obstacles in a sailing process from the beginning to the end; theUSVs are not collided with each other; furthermore, large-angle steering and large-range acceleration and deceleration are avoided; and furthermore, a sailing path accords with economic requirements.The invention devotes to find a method for assisting collision prevention by sufficient utilization of the communication module and a radar detection module in the case of or in the absence of communication; and furthermore, the pressure of the system is relieved by making reasonable communication frequencies and communication contents.

Description

technical field [0001] The invention belongs to the technical field of USV control, and in particular relates to a multi-USV group cooperative collision avoidance planning method considering communication conditions. Background technique [0002] With the development of USV technology for unmanned surface vehicles, the ability to perform tasks, the robustness of navigation, and the safety of a single USV have been greatly improved. In order to effectively make up for tasks that are difficult for a single USV to complete, researchers from various countries have designed a multi-USV group collaborative operation mode to maximize the overall advantages and improve the quality of task completion. The multi-USV navigation environment includes static obstacles such as islands and reefs and dynamic obstacles such as moving ships, and is also affected by sea conditions such as waves, currents, and sea winds. In such a complex and changeable marine environment, an important prerequi...

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Problems solved by technology

[0003] Defects of the existing technology: The existing multi-USV group collaborative collision avoidance planning method has a fuzzy function of the communication module, and the confusion between the functions of the communication module and the sensor module often occurs within a certain range. The role of speed and heading information to assist collision avoidance

Considering that there is no communication, the environmental information detected by the sensor module is not fully used to assist in collision avoidance. The detection range of the sensor and the type of detection information are idealized, and some literature will also use the information that can only be obtained by the communication module to avoid collision in the case of no communication.

Document "Wang Jing. Research on Underwater Robot Formation System [D]. Harbin: Master's Degree Thesis of Harbin Engineering University, 2003." The real-time writing and reading of each AUV will easily lead to information confusion and information error. The communication module only Intercommunicating position information but ignoring speed and heading information, fixed communication frequency le

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