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Method and system for planning paths of marine unmanned ships

A path planning and unmanned boat technology, applied in the field of path planning methods and systems for unmanned boats at sea, can solve problems such as inability to plan unmanned boat paths, overlapping paths, and omission of large areas, so as to improve cruise efficiency and ensure smooth flow. , the effect of ensuring cruise safety

Active Publication Date: 2019-09-17
ZHEJIANG OCEAN UNIV
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Problems solved by technology

[0003] However, in the existing navigation system, it is impossible to plan the path well according to the characteristics of the unmanned boat, and it is impossible to cooperate well with multiple unmanned boats.
When multiple unmanned boats are cruising a sea area, it is easy to have overlapping paths or missing a large area

Method used

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  • Method and system for planning paths of marine unmanned ships
  • Method and system for planning paths of marine unmanned ships
  • Method and system for planning paths of marine unmanned ships

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Embodiment Construction

[0056] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0057] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced without one or more of the specific...

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Abstract

The invention relates to a method and a system for planning paths of marine unmanned ships. The method comprises the following steps: generating a raster map of a sea area to be cruised; generating random cruising paths of multiple unmanned ships in the raster map; obtaining history cruising data of each unmanned ship; predicting an estimated arrival time of each unmanned ship when passing each raster in the cruising path; judging whether the cruising path of each unmanned ship and the cruising paths of other unmanned ships have repeated raster, if judging that difference between estimated arrival time of multiple unmanned ships which pass the same raster is greater than a first threshold if the cruising path of each unmanned ship and the cruising paths of other unmanned ships have repeated raster; and adjusting the cruising path of one unmanned ship if the difference between estimated arrival time of two unmanned ships which pass the same raster is less than or equal to the first threshold so as to enable the cruising path of the unmanned ship avoid the raster. Through the method and the system for planning the paths of the marine unmanned ships, the collaborative path planning for multiple unmanned ships is achieved; the comprehensive cruising of the sea area is achieved; meanwhile, the situation that the paths are coincident is avoided.

Description

technical field [0001] The invention relates to the technical field of marine unmanned boats, in particular to a path planning method and system for marine unmanned boats. Background technique [0002] Unmanned boats have the advantages of small size, good invisibility, intelligence, and no casualties. They can be used flexibly in military operations, maneuverable in deployment, and easy to use. They can independently perform tasks in dangerous areas or areas where it is not suitable to dispatch manned ships. It expands the scope of maritime operations and has a good cost-effective ratio. As a large developing country with a vast coastline and frequent maritime disputes, it is necessary for China to strengthen research on unmanned vehicle technology and protect its own maritime rights and interests. It is of great practical significance to design a high-performance navigation system for it. For now, the main requirements for the unmanned navigation system are small size, h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02A90/10
Inventor 顾沈明谭安辉谭小球
Owner ZHEJIANG OCEAN UNIV
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