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 leads to problems of long-distance resource occupation or short-distance communication slowness, the literature "Wang Aibing et al. Research on collision avoidance technology for multiple underwater robots with different priorities [J]. Microcomputer Information, 2007, 24(5-2): 232-234." The communication is just an attempt to build a general communication framework to transfer priorities in real time, the bandwidth and stability of explicit communication cannot be fully guaranteed, and only transfer Priority does not take full advantage of the role of the communication module

Document "Li Dongzheng et al. Cooperative path planning for multi-underwater robots based on master-slave structure [J]. Computer Simulation, 2015, 32(1): 382-387." The constraints of master-slave structure AUV algorithm sub-layer and algorithm main layer are complex And there is coupling, there are problems such as difficulty in solving, long iteration time, and falling into local optimum. The algorithm detects all obstacles and other AUVs in space by default, without considering the detection range and angle of sonar, which is not realistic and has not been verified by simulation

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