Unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraints

Abstract

The invention discloses an unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraints. The method comprises the following steps: enabling an unmanned shipto avoid obstacles while sailing along a pre-planned path, and switching the unmanned ship between a path following mode and an anti-collision mode when a certain condition is met by adopting an SBG algorithm-based unmanned ship mode switching method, so as to realize the combination of track tracking control and anti-collision path planning; considering the maneuverability of the ship, designinga reaction type collision avoidance method based on dynamic window constraint, and effectively solving the situation that the controller cannot achieve a collision avoidance output state. And meanwhile, an unmanned ship collision avoidance path meeting the maritime rule is designed in combination with the international maritime rule, so that the safety of the unmanned ship during collision avoidance is ensured.

Description

technical field [0001] The invention relates to an autonomous dynamic collision avoidance method for an unmanned ship, in particular to an autonomous dynamic collision avoidance method for an unmanned ship based on SBG and dynamic window constraints. Background technique [0002] The vast ocean is rich in biological resources and mineral resources. With the rapid development of science and technology, it will become the main battlefield for countries to compete for resources. Unmanned Surface Vessel (USV, Unmanned Surface Vessel) is an unmanned and intelligent carrier platform that relies on remote control or autonomous means to sail on the water surface. Compared with conventional ships, it has small size, fast speed and high degree of intelligence. characteristics. On the civilian side, unmanned ships can reduce costs and improve the safety of ship navigation; on the military side, unmanned ships can be deployed to perform tasks in dangerous sea areas, as well as tasks th...

AI Technical Summary

Problems solved by technology

[0004] At present, traditional local collision avoidance methods seldom consider the constraints of ship maneuverability, and it is easy to generate collision avoidance output that cannot be achieved by dynamics at high speeds; in addition, most of the existing methods do not consider international The algorithm is designed to avoid obstacles, which is likely to cause danger in actual collision avoidance

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