Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF7 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Object-oriented hybrid genetic algorithm unmanned boat real-time path planning method
  • Object-oriented hybrid genetic algorithm unmanned boat real-time path planning method
  • Object-oriented hybrid genetic algorithm unmanned boat real-time path planning method

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com