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Water surface unmanned boat collision avoidance method based on sliding window and particle swarm

A surface unmanned, particle swarm algorithm technology, which is applied in the field of surface unmanned boat collision avoidance based on sliding window particle swarm, can solve the problem that the automatic collision avoidance technology has not been solved well, and there are not too many surface unmanned boats. attention and other issues

Inactive Publication Date: 2019-05-17
HARBIN ENG UNIV
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Problems solved by technology

[0003] At present, our country does not pay too much attention to surface unmanned vehicles, especially the core technology of surface unmanned vehicles, and the automatic collision avoidance technology has not been well resolved.

Method used

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  • Water surface unmanned boat collision avoidance method based on sliding window and particle swarm
  • Water surface unmanned boat collision avoidance method based on sliding window and particle swarm
  • Water surface unmanned boat collision avoidance method based on sliding window and particle swarm

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Embodiment Construction

[0057] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described below in conjunction with the accompanying drawings:

[0058] Technical scheme of the present invention is realized like this:

[0059] Step 1. Use a suitable motion model for the drone. The measurement system on the unmanned boat is mainly composed of two parts: the position reference system and the sensor reference system, which respectively measure the position and attitude of the unmanned boat and the position of obstacles during navigation. Taking into account the inconsistency of different sensors in time and pace, as well as measurement errors and various uncertain factors. The data from different sensors are filtered, fused, and space-time aligned to obtain more accurate position and attitude information.

[0060] The mathematical model of the UAV is in the following form:

[0061] ...

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Abstract

The invention relates to the field of unmanned boat collision avoidance based on a maritime intelligent traffic technology, in particular to a water surface unmanned boat collision avoidance method based on a sliding window and a particle swarm. The method comprises the steps of 1, building a motion model of a water surface unmanned boat; 2, acquiring a motion model of an obstacle; and 3, carryingout obstacle avoidance planning according to algorithms. The particle swarm algorithm and the sliding window method are adopted for carrying out processing, and finally through the combination of thetwo algorithms, the water surface unmanned boat is ensured to well avoid known and unknown dynamic obstacles.

Description

technical field [0001] The invention relates to the field of collision avoidance of unmanned boats of maritime intelligent transportation technology, in particular to a method for avoiding collisions of unmanned boats on water surfaces based on sliding window particle swarms. Background technique [0002] Unmanned Vehicle (USV) is a small water surface sports platform that integrates autonomous planning, autonomous navigation, autonomous environmental perception, and target detection. It has become an indispensable device for exploring marine resources. The competition for maritime rights and interests among countries around the world is heating up day by day, and the ocean has become a focus of international strategic competition. Offshore combat has become the mainstream mode of naval warfare in the future and people's requirements for zero casualties of active forces in wars are becoming increasingly urgent. Unmanned surface vehicles, a new concept combat platform, will s...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 林孝工杨荣浩刘向波王汝珣郭如鑫刘志宇刘叶叶
Owner HARBIN ENG UNIV
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