A dynamic collision avoidance method for surface unmanned vessels based on track re-planning

Abstract

The invention discloses a dynamic collision avoidance method for an unmanned watercraft based on track re-planning, which includes the following steps: obtaining the navigation information of neighboring ships and the position and attitude information of the unmanned boat itself through ship-mounted sensors; constructing the unmanned boat and the collision cone between the neighboring ships; introduce the uncertainty in the observation of the motion information of the neighboring ships, and impose a layer of soft constraints on the collision cone; impose the speed and heading limit range of the unmanned ship; obtain the final candidate speed Set; introduce a cost function to select the optimal collision avoidance speed; perform the inner loop of the navigation simulation at the optimal collision avoidance speed to obtain the trajectory re-planning point for the unmanned vehicle's dynamic collision avoidance. The invention outputs the dynamic collision avoidance decision of the unmanned watercraft in the form of track re-planning, meets the constraints of international maritime collision avoidance rules, can well adapt to the maneuvering control of the unmanned boat itself, and satisfies the dynamic avoidance of the unmanned boat. meet demand.

Description

technical field [0001] The invention relates to the technical field of autonomous intelligent control of unmanned boats, in particular to a dynamic collision avoidance method for surface unmanned boats based on track replanning. Background technique [0002] In terms of military use, as a pioneer of future ocean warfare, unmanned surface vehicles are an important tool for the country to safeguard maritime rights and interests. In terms of civilian use, it can replace crew members to perform tasks, thereby effectively reducing the amount of manual work and reducing the risk of operations. It can be used in military operations and sea patrols. , reef supply and other fields have a wide range of application requirements. Due to the complexity of the ocean environment, there are large uncertainties, so the highly intelligent collision avoidance level of the surface unmanned vehicle is the key to its safe navigation in complex sea areas. At present, although my country has made ...

AI Technical Summary

Problems solved by technology

Aiming at the dynamic collision avoidance problem of the surface unmanned boat, the present invention introduces the geometric model description of the speed obstacle region based on the direction bounding box and the motion model description of the speed obstacle region based on the speed uncertainty to model the speed obstacle region

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