Real-time collision prevention and target tracking method for unmanned ship

A target tracking and unmanned boat technology, applied in the field of unmanned boat path planning, can solve problems such as path unreachable, time series information unmanned boat motion constraints are not considered, and the controller cannot follow

Active Publication Date: 2019-09-20
航天时代(青岛)海洋装备科技发展有限公司
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Problems solved by technology

[0004] At present, most path planning methods, such as potential field method, grid method, A* algorithm, genetic algorithm, etc., obtain the optimal path by planning coordinate points, and do not consider time seri

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  • Real-time collision prevention and target tracking method for unmanned ship
  • Real-time collision prevention and target tracking method for unmanned ship
  • Real-time collision prevention and target tracking method for unmanned ship

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[0078] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0079] The embodiment of the present invention provides a real-time collision avoidance and target tracking method for an unmanned boat. The implementation process is as follows: figure 1 As shown, including the following steps:

[0080] Preparation: The starting point of the unmanned boat and the position, speed, and attribute information of the obstacle are known.

[0081] Step S10, according to the start and end positions of the unmanned craft's trajectory, according to the time interval and the number of state sequences, initialize the state B with time sequence:=(Q,τ),

[0082] Among them: state set Q = {q i } i=1...n ,n∈N, state set τ={ΔT j } j=1...n-1 ,n∈N, q i =(p i ,β i ) T =(x i ,y i ,β i ) T , P i =(x i ,y i ) Is the current position coordinates of the unmanned boat on the map, β i Is the current steering angle of the unmanned bo...

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Abstract

The invention relates to a real-time collision prevention and target tracking method for an unmanned ship. The method constructs a maritime rule, a steering collision prevention model, a self-adaptive tracking model, an unmanned ship kinematics model and an unmanned ship energy consumption model aiming at the motion characteristics of an unmanned ship, the characteristics of the unmanned ship path planning process that the unmanned ship needs to abide by the international maritime rule convention and can be interfered by wind, waves and flow and the like and the requirement of the unmanned ship target tracking process on the speed smoothness, and sets two working modes of sailing and target tracking for the unmanned ship. For the two working modes, corresponding end conditions are set, multiple constraint conditions are added into the algorithm, and an optimal path is calculated and obtained by adopting the least squares and the G2O graph optimization algorithm. The real-time collision prevention and target tracking method can be applied to the field of path planning of unmanned ships, and an optimal smooth track which takes constraint conditions such as navigation time, collision risk, international maritime regulation convention, energy consumption, kinematics limitation of the unmanned ship, speed/acceleration limitation and the like into consideration can be obtained in real time.

Description

technical field [0001] The invention relates to the field of path planning of unmanned boats, in particular to a method for real-time collision avoidance and target tracking of unmanned boats Background technique [0002] With the rapid development of unmanned systems and artificial intelligence technology, following drones and unmanned vehicles, unmanned surface vehicles (Unmanned Surface Vehicle, USV) are becoming more and more popular in the military and civilian fields. It plays an important role in various marine applications such as forensics, environmental monitoring and enemy detection. [0003] Path planning technology is one of the core technologies in the field of surface unmanned boats. It is a key step from manned to unmanned. It is the key development direction of intelligent unmanned boats. high and low. Therefore, the research on the path planning technology of UAV will help the further development of UAV. The path planning of the surface unmanned vehicle ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 胡常青文龙贻彬江淮李清洲徐宇新王学锋赵荣利
Owner 航天时代(青岛)海洋装备科技发展有限公司
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