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Method for checking and correcting collision avoidance decision of unmanned boat

An unmanned boat and collision avoidance technology, applied in the field of navigation and navigation, can solve the problems of decision-making verification, unable to guarantee the new or greater danger of unmanned boats, etc., to achieve the effect of ensuring the safety of navigation

Inactive Publication Date: 2019-08-27
TIANJIN NAVIGATION INSTR RES INST
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Problems solved by technology

[0004] At present, the research on collision avoidance of unmanned boats is mostly focused on the design of decision-making methods for collision avoidance, without re-checking the obtained decisions, and it is impossible to guarantee whether the unmanned boat will encounter new or larger danger

Method used

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  • Method for checking and correcting collision avoidance decision of unmanned boat
  • Method for checking and correcting collision avoidance decision of unmanned boat

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Embodiment Construction

[0021] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] A verification and correction method for collision avoidance decisions of unmanned boats, such as figure 1 shown, including the following steps:

[0023] Step 1. Calculate the encounter parameters of the obstacles or dynamic ships encountered by the unmanned boat, and judge whether there is a risk of collision.

[0024] Calculate the shortest encounter distance DCPA and the shortest encounter time TCPA according to the navigation parameters of the unmanned boat and the target motion parameters detected by the radar, and compare them with the safe encounter distance SDA of the unmanned boat. If DCPA<SDA, there is an avoidance If there is no danger of collision, proceed to step 2; otherwise, continue sailing as planned if there is no danger of collision avoidance.

[0025] Such as figure 2 As shown, the targets in the picture are all s...

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Abstract

The invention relates to a method for checking and correcting a collision avoidance decision of an unmanned boat. The method comprises the following steps: a barrier or a dynamic ship encountered by the unmanned boat in navigation is subjected to encountering parameter calculation, and whether a collision risk exists or not is judged; a first avoidance scheme is designed on the basis of a speed barrier principle; and the first avoidance scheme is checked, whether other collision risks exist or not is judged, and if no collision risk exists, the first avoidance scheme is directly output to an unmanned boat navigation decision-making system and an execution mechanism is controlled to implement the first avoidance scheme, otherwise, a second avoidance scheme is designed and fused with the first avoidance scheme to obtain a third avoidance scheme, the third avoidance scheme is output to the unmanned boat navigation decision-making system and the execution mechanism is controlled to implement the third avoidance scheme. According to the method, the calculated collision avoidance decision is checked and corrected while a search area is expanded; and the collision avoidance scheme with local optimum is provided and recommended for the unmanned boat, so that the navigation safety of the unmanned boat is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of navigation and navigation, in particular to a verification and correction method for an unmanned boat collision avoidance decision. Background technique [0002] Due to the advantages of small size, fast speed, high autonomy, no casualties, and a wide range of activities, the surface unmanned vehicle can independently perform tasks in dangerous areas or areas where manned ships are not suitable, expanding maritime applications. range, with good cost performance, and thus more and more attention by many countries. [0003] In the complex and changeable marine environment, an important prerequisite for the safe navigation of the surface unmanned vehicle and the smooth completion of various tasks is that the surface unmanned vehicle can realize the function of autonomous collision avoidance. As one of the core technologies in the research of surface unmanned vehicles, the autonomous collision avoidance of s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 房媛媛赵燕朱少辉孟凡彬张晶晶
Owner TIANJIN NAVIGATION INSTR RES INST
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