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A track planning method for an unmanned ship, a terminal device and a storage medium

A track planning, unmanned ship technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of not considering the speed change and other problems

Active Publication Date: 2021-02-26
JIMEI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above three patents are applied to the path planning of unmanned aerial vehicles, unmanned boats, and robots. The existing patents have not considered the speed change of straight and turning sailing during the navigation process, and the default is to sail at a constant speed. , all take the shortest path as the evaluation standard

Method used

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  • A track planning method for an unmanned ship, a terminal device and a storage medium
  • A track planning method for an unmanned ship, a terminal device and a storage medium

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Embodiment 1

[0038] The invention provides a method for unmanned ship track planning, comprising the following steps:

[0039] Step 1: According to the distribution of obstacles in the geographic information database, use the grid method to establish a two-dimensional static environment model of the navigation area, specifically:

[0040] Considering the size of the unmanned ship, half the length of the unmanned ship is used as the standard to expand the boundary of obstacles outward, so the unmanned ship navigating in the grid environment can be regarded as a particle. If the obstacle only occupies part of the grid unit, it is considered to fill the entire grid unit.

[0041] Step 2: Set the calculation formula for the total time T of the unmanned ship sailing.

[0042] Set the current node position of the unmanned ship as i, and the corresponding coordinates of the current node as (x i ,y i ), and the grid cells are adjacent to each other, then the next node j of the unmanned ship has...

Embodiment 2

[0079] The present invention also provides an unmanned ship track planning terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program The steps in the above method embodiment of Embodiment 1 of the present invention are realized.

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Abstract

The present invention relates to a track planning method for an unmanned ship, a terminal device and a storage medium. The method includes the following steps: Step 1: According to the distribution of obstacles, a two-dimensional static environment model of the navigation area is established using a grid method ; Step 2: Set the formula for calculating the total time T of the unmanned ship's voyage. Step 3: Carry out track planning for the unmanned ship according to the ant colony algorithm, and update the pheromone in the ant colony algorithm according to the total time of the unmanned ship's voyage. In the present invention, according to the fact that the turning speed will be lower than the straight-going speed, and the larger the turning angle, the smaller the speed, the pheromone update method in the ant colony algorithm is set to be updated according to the total time, and shortening the sailing time is necessary for The smooth implementation of the rescue mission of the unmanned ship is of great significance, so it is closer to the actual demand situation.

Description

technical field [0001] The invention relates to the technical field of track planning, in particular to a track planning method for an unmanned ship, a terminal device and a storage medium. Background technique [0002] As we all know, the ocean area accounts for about 70.8% of the total area of ​​the earth. With the development of science and technology, the research on the ocean has become one of the hot spots in the world today, so the sea missions are increasingly diversified. The sea environment is the same as the land environment, and there will be many unpredictable disasters. Compared with the land, when a disaster occurs at sea, because it is in a seawater environment, the risk and urgency factor is often higher than that on land, and it is more difficult. [0003] An unmanned ship is a combination of traditional ship technology and unmanned technology, and it is an unmanned surface vessel. Unmanned ships play an important role in dangerous tasks that are not suita...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 周海峰陈清林邱晨王荣杰陈景锋王佳宋佳声张兴杰林忠华林安辉林昌陈雨菡
Owner JIMEI UNIV