Method for checking and correcting collision avoidance decision of unmanned boat

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...

AI Technical Summary

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

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