A Collision Avoidance Method for Unmanned Vehicles Based on Genetic Algorithm and Particle Swarm Optimization
A particle swarm algorithm and genetic algorithm technology, applied in the field of collision avoidance of unmanned boats in maritime intelligent transportation technology, can solve the problem of no avoidance path planning and calculation, and achieve the effect of saving resources
Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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The patent application number is CN201610942213.5, an unmanned boat collision avoidance method based on the improved ant colony algorithm, which uses the improved ant colony algorithm to plan the safe route of the unmanned boat. This method has certain limitations and does not target Calculation of avoidance path planning for static and dynamic obstacles
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[0085] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention will be further described below in conjunction with the accompanying drawings:
[0086] The technical scheme of the present invention is realized as follows:
[0087] 1. Research on relevant parameters and collision avoidance constraint rules in path planning and collision avoidance of unmanned boats:
[0088] The mathematical model parameters of the motion of the unmanned boat involve the position and speed of the unmanned boat and the position and speed of the obstacle. The relative velocity, relative position and relative azimuth motion parameters of the two are derived from this. Four different collision situations between the UAV and the obstacle are summarized: frontal obstacle avoidance, overtaking obstacle avoidance, right chord crossing and left chord crossing obstacle avoidance. Introduce the constraint rules...
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The invention relates to the field of collision avoidance of unmanned boats of maritime intelligent transportation technology, in particular to a collision avoidance method of unmanned boats based on genetic algorithm and particle swarm algorithm. Firstly, the relevant parameters and collision avoidance constraint rules in the collision avoidance path planning of the unmanned vehicle are studied, then the path planning of the surface unmanned vehicle to avoid static obstacles based on the genetic algorithm is carried out, and finally the combination of the genetic algorithm and the particle swarm algorithm is carried out. Dynamic collision avoidance path planning, completes path optimization, outputs a feasible collision avoidance path and resumes sailing; compared with the traditional collision avoidance technology for unmanned boats, the present invention can obtain optimal path planning, accurately avoid collisions, and ensure unmanned boats Reach the target point safely.
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 collision avoidance method of unmanned boats based on genetic algorithm and particle swarm algorithm. Background technique [0002] Unmanned boat (USV) is a small surface motion platform that integrates functions such as autonomous planning, autonomous navigation, autonomous environment perception, and target detection. It has become an indispensable equipment for exploring marine resources. [0003] Because path planning and collision avoidance are the keys to autonomous navigation of unmanned boats. Therefore, before the unmanned boat enters the water area to perform the task, it is necessary to plan a full navigation path according to the known hydrological data of the sea area. Due to the complex and changeable marine environment, it is impossible to predict what will happen during the voyage, such as en...
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IPC IPC(8): G05D1/02
Inventor 林孝工刘叶叶刘向波王汝珣杨荣浩刘志宇郭如鑫
Owner HARBIN ENG UNIV