A real-time collision avoidance and target tracking method for unmanned boats

A target tracking and unmanned boat technology, which is applied in the field of unmanned boat path planning, can solve the problems of unreachable path, no consideration of time-series information unmanned boat motion constraints, and inability of the controller to follow, etc. The effect of smooth speed tracking and increased working time

Active Publication Date: 2022-04-08
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 series information and The movement constraints of the unmanned boat will lead to the planned path being too ideal, and there will be cases where the path is unreachable, that is, the controller cannot follow this path

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  • A real-time collision avoidance and target tracking method for unmanned boats
  • A real-time collision avoidance and target tracking method for unmanned boats
  • A real-time collision avoidance and target tracking method for unmanned boats

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Embodiment Construction

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

[0079] Embodiments of the present invention provide a real-time collision avoidance and target tracking method for unmanned boats, the implementation process of which is as follows figure 1 shown, including the following steps:

[0080] Preparations: The starting point of the unmanned vehicle and the position, speed, and attribute information of obstacles are known.

[0081] Step S10, according to the starting point and end position of the unmanned ship's navigation track, according to the time interval and the number of state sequences, initialize the state B with time series:=(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 in the map, β i is the current ste...

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Abstract

A real-time collision avoidance and target tracking method for unmanned boats, which is based on the characteristics of the unmanned boat's motion characteristics and the need to comply with international maritime rules and conventions during the path planning process of the unmanned boat and will be interfered by wind and waves, as well as the impact of the unmanned boat target tracking process on In order to meet the requirements of speed smoothness, maritime rules and steering collision avoidance models, adaptive tracking models, unmanned boat kinematics models and unmanned boat energy consumption models were constructed. Afterwards, two working modes of navigation and target tracking were set for the unmanned boat. The corresponding intermediate and end-point conditions are set for the two working modes, and various constraints are added to the algorithm. The least squares and G2O graph optimization algorithms are then used to calculate the optimal path. The present invention can be applied to the field of path planning of unmanned boats, and can obtain an optimal route in real time that takes into account constraints such as navigation time, collision risk, international maritime regulations, energy consumption, kinematic limitations of unmanned boats, speed / acceleration limits, etc. Excellent smooth trajectory.

Description

Technical field [0001] The invention relates to the field of unmanned boat path planning, specifically a real-time collision avoidance and target tracking method for unmanned boats. Background technique [0002] With the rapid development of unmanned systems and artificial intelligence technology, following drones and unmanned vehicles, unmanned surface vehicles (USVs) are becoming more and more popular in military and civilian fields. They are used in maritime search and rescue, maritime affairs, etc. It plays an important role in various marine applications such as forensics, environmental monitoring and enemy reconnaissance. [0003] Path planning technology is one of the core technologies in the field of unmanned surface watercraft. It is a key step from manned to unmanned and is the key development direction of intelligent unmanned watercraft. To a certain extent, it marks the autonomous navigation capability of unmanned surface watercraft. of high or low. Therefore, ...

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Application Information

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Patent Type & Authority Patents(China)
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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