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Path planning method and system for marine unmanned boat

A technology for path planning and unmanned boats, applied in the path planning method and system field of unmanned boats at sea, can solve problems such as path overlap, unmanned boat path planning, and large area omissions, so as to ensure smooth flow and improve cruise efficiency , Guarantee the effect of cruising safety

Active Publication Date: 2022-06-03
ZHEJIANG OCEAN UNIV
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AI Technical Summary

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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  • Path planning method and system for marine unmanned boat
  • Path planning method and system for marine unmanned boat
  • Path planning method and system for marine unmanned boat

Examples

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Embodiment Construction

[0056] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various 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 in the drawings denote the same or similar structures, 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 the embodiments of the present invention. However, those skilled in the art should appreciate that the technical solutions of the present invention may be practiced without one or mor...

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Abstract

The present invention relates to a path planning method and system for unmanned boats at sea. The method includes: generating a grid map of the sea area to be cruised; generating random cruising paths of multiple unmanned boats in the grid map; obtaining each historical cruising data of unmanned boats; predict the estimated arrival time of each unmanned boat when passing through each grid in the cruising path; judge whether the cruising path of each unmanned boat overlaps with the cruising path of other unmanned boats grid, if it exists, it is judged whether the difference between the estimated arrival times of multiple unmanned boats passing the same grid is greater than the first threshold; if there is a difference between the estimated arrival times of two unmanned boats passing the same grid If the difference is less than or equal to the first threshold, the cruising path of an unmanned boat is adjusted so that the cruising path of the unmanned boat avoids the grid. The invention realizes cooperative path planning of a plurality of unmanned boats, realizes comprehensive cruising in the sea area, and does not have overlapping paths.

Description

technical field [0001] The invention relates to the technical field of unmanned boats at sea, in particular to a path planning method and system for unmanned boats at sea. Background technique [0002] Unmanned boats have the advantages of small size, good stealth, intelligence, and no casualties. In the military aspect, they can operate flexibly, deploy maneuverably, and are easy to use. They can independently perform tasks in dangerous areas or areas that are not suitable for dispatching manned ships. It has a good cost-effectiveness ratio. As a large developing country with a vast coastline and frequent maritime disputes, it is necessary for China to strengthen research on unmanned boat 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 unmanned boat navigation systems are small size, high precision, and high reliability, which can a...

Claims

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Application Information

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Patent Type & Authority Patents(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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