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Multi-target autonomous collision avoidance method for unmanned ship

An unmanned boat, multi-target technology, applied in the field of navigation and navigation, can solve problems such as difficulty in meeting practical applications and poor real-time performance, achieve good practical application value, and ensure the effect of navigation safety.

Inactive Publication Date: 2019-08-27
TIANJIN NAVIGATION INSTR RES INST
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Most of the existing safety distance theories are based on the ship theory, and most of the existing collision risk analysis is based on the distance between targets, which has poor real-time performance and is difficult to meet the needs of practical applications

Method used

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  • Multi-target autonomous collision avoidance method for unmanned ship
  • Multi-target autonomous collision avoidance method for unmanned ship
  • Multi-target autonomous collision avoidance method for unmanned ship

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Embodiment Construction

[0029] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0030] A multi-target autonomous collision avoidance method for unmanned boats, such as figure 1 shown, including the following steps:

[0031] Step 1. Calculate the closest encounter distance DCPA and the closest encounter time TCPA based on the detected target information and the ship's navigation status information.

[0032] Such as figure 2 As shown, in this embodiment, one static target is 102m away from the own ship, with an azimuth of -11.3°; the other dynamic target is 170m away from the own ship, with an azimuth of 24.3°, a speed of 10kn, and a heading of 225°. The boat initially sails at 18kn towards 0°; the target waypoint is 300m ahead. Among them, DCPA1=20, TCPA1=11.1 for the static target; DCPA2=25.3, TCPA2=12.9 for the dynamic target.

[0033] Step 2. Determine the safe meeting distance according to the navigation status of ...

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Abstract

The invention relates to a multi-target autonomous collision avoidance method for an unmanned ship. The method comprises the following steps: resolving meeting parameters by using the detection information; determining a safe meeting distance according to the sailing state of the ship, and judging whether collision danger exists; sequentially calculating the collision danger degree of the target with collision danger; determining the priority of the avoidance target according to the collision danger degree to design and complete an avoidance scheme; and selecting an economical and safe avoidance scheme for output and execution. According to the method, the safe meeting distance is dynamically designed, the collision danger degree is judged, an effective collision avoidance scheme under a multi-target scene is provided for the unmanned ship, the calculation result is output in real time, the multi-target autonomous collision avoidance decision can be realized, the navigation safety of the unmanned ship is guaranteed, and the simulation result shows that the method has good practical application value.

Description

technical field [0001] The invention belongs to the technical field of navigation and navigation, in particular to a multi-target autonomous collision avoidance method for an unmanned boat. 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 surface unmann...

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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