Object-oriented hybrid genetic algorithm unmanned boat real-time path planning method

A hybrid genetic algorithm, real-time path planning technology, used in computing, computing models, road network navigators, etc.

Inactive Publication Date: 2019-06-21
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an object-oriented hybrid genetic algorithm unmanned boat real-time path planning method, to carry out global path planning through evolutionary genetic algorithm, to solve the path planning problem of unmanned boats to multiple static static obstacles, through ant Group optimization algorithm for local path planning and real-time collision avoidance for dynamic obstacles

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Embodiment Construction

[0074] 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:

[0075] Technical scheme of the present invention is realized like this:

[0076] 1. Establishment of the mathematical model of the unmanned vehicle

[0077] The position point of the known surface unmanned vehicle is S o (x o ,v o ), the position point of the obstacle is S T (x T ,y T ), the sailing speed of the unmanned boat is v o (v xo ,v yo ), the moving speed of the obstacle is v T (v xT ,v yT ), then the surface unmanned boat sails in the marine environment. The schematic diagram of the relative movement of the two is as figure 1 Shown:

[0078] (1) Movement speed of the unmanned boat

[0079] The size of the speed:

[0080]

[0081] course:

[0082]

[0083] in

[0084]

[0085] (2) The moving speed of the ta...

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Abstract

The invention relates to the technical field of maritime intelligent transportation, and particularly relates to an object-oriented hybrid genetic algorithm unmanned boat real-time path planning method. The method comprises steps: 1, a motion mathematical model of a surface unmanned boat is built; 2, a mathematical model for disturbance of sea breeze, sea wave and current environments is built; 3,surface unmanned boat global path planning is carried out based on an evolutionary genetic algorithm, and collision avoidance is carried out on a static obstacle; 4, surface unmanned boat local pathplanning is carried out based on an ant colony optimization algorithm, and collision avoidance is carried out on a dynamic obstacle; and 5, a planned track is returned by reorientation, the third stepand the fourth step are repeated for real-time path planning, and an end point is reached. Global path planning is carried out through the evolutionary genetic algorithm, the path planning problem ofthe unmanned boat towards multiple static obstacles is solved, local path planning is carried out through the ant colony optimization algorithm, and real-time collision avoidance on a dynamic obstacle is carried out.

Description

technical field [0001] The invention relates to the technical field of maritime intelligent transportation, in particular to an object-oriented hybrid genetic algorithm unmanned boat real-time path planning method. Background technique [0002] Unmanned surface vessel (unmanned surface vessel, referred to as USV) continues to develop in the industrial and military fields, and as an important tool for monitoring the marine environment and safeguarding marine rights and interests, it has also received great attention. [0003] Because path planning is one of the key technologies in the research of autonomous control of unmanned boats. The global path planning can generate a predetermined path offline in the navigation area of ​​the unmanned vehicle, and can avoid static obstacles, such as islands, static buoys, etc. However, the actual environment of the unmanned vehicle navigation area is constantly changing, and the application of non-real-time global path planning will lea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G06N3/00G06N3/12
Inventor 林孝工郭如鑫刘向波王汝珣杨荣浩刘叶叶刘志宇
Owner HARBIN ENG UNIV
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