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Unmanned ship path planning method

A path planning and ship technology, applied in the direction of radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., can solve the problems of poor practicability, insufficient consideration of USV mechanical and electrical characteristics, etc., to increase the complexity degree, improve convergence, and improve the effect of the algorithm

Pending Publication Date: 2019-12-24
ZUNYI NORMAL COLLEGE
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Problems solved by technology

[0003] Most of the current USV path planning is based on pure theoretical research, and the simulation results obtained do not fully consider the mechanical and electrical characteristics of the USV itself, as well as the changing marine environment outside, and are not very practical.

Method used

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Embodiment Construction

[0063] The present invention is described in further detail below:

[0064] A path planning method for an unmanned ship, the steps are as follows:

[0065] Step 1: Firstly, the environment of USV from the starting point to the end point is rasterized and modeled, and the environment is rasterized into a certain number of rasters, and the rasters are encoded in a binary format: 1 means that there are obstacles in the current raster, 0 means there is no obstacle; the attribute storage of each grid includes information such as obstacle position, wave amplitude, ocean current velocity, and ocean wind velocity. Then use the principle of bionics to corrode and expand the obstacle grid. The corrosion and expansion of A with respect to B are defined as follows:

[0066]

[0067]

[0068] (A) -b is the set of translations of the mapping of A on B, (A) b It is the translation set of A about B; in morphology, the erosion operation deletes some pixels of the obstacle boundary in ...

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Abstract

The invention discloses an unmanned ship path planning method. The method comprises the steps of firstly performing rasterization modeling on an environment from a starting point to a terminal point of a USV, then performing global path planning, and then performing obstacle avoidance on a static obstacle, and then performing the obstacle avoidance on a dynamic obstacle. Through the method disclosed by the invention, hardware COMPASS deflection information is added, a corresponding threshold value is arranged, a direction is self-adaptively adjusted in real time to always point to a destination; the algorithm is greatly improved, and the convergence is greatly improved although the complexity is increased.

Description

technical field [0001] The invention relates to a path planning method for an unmanned ship, belonging to the technical fields of intelligent control systems and artificial intelligence. Background technique [0002] At present, the rapid economic growth rate and the large population pressure in the world make land resources relatively scarce, but the ocean has inestimable rich resources, and most of them have not yet been developed, so that the development vision of various countries will gradually shift from The land turns to the sea. China has a long coastline and is a developing maritime power. There are many disputes over maritime rights and interests with neighboring countries. Therefore, we need to continuously develop our own marine technology. Unmanned surface vessel (USV) is a small surface vessel that can realize autonomous navigation in the ocean and complete corresponding tasks. Playing an important role in development, it has attracted the attention of navies...

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Application Information

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IPC IPC(8): G01C21/20G01S19/48
CPCG01C21/203G01S19/48
Inventor 敖邦乾杨莎曲祥君曾令娟邹江令狐金卿
Owner ZUNYI NORMAL COLLEGE
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