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Autonomous danger avoidance method suitable for high-speed surface unmanned boat

An unmanned boat, dangerous technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve the requirements of high-speed unmanned boat obstacle avoidance course stability, obstacles instability, etc.

Active Publication Date: 2020-02-25
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This technical solution is not combined with actual sensors, and only considers the instability of obstacles, and does not mention the characteristics of high-speed unmanned vehicle obstacle avoidance that require high heading stability

Method used

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  • Autonomous danger avoidance method suitable for high-speed surface unmanned boat
  • Autonomous danger avoidance method suitable for high-speed surface unmanned boat
  • Autonomous danger avoidance method suitable for high-speed surface unmanned boat

Examples

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Effect test

Embodiment 1

[0024] combine Figure 8 , the autonomous danger avoidance method applicable to the high-speed water surface unmanned boat of the present invention comprises the following steps,

[0025] Step 1: Obtain the current status of the unmanned boat, command information and surrounding obstacle information.

[0026] Step 2: Improve the stability of obstacles in the environment model through a high-confidence local environment modeling method.

[0027] Step 3: Output the stabilized obstacle information in the current environment model.

[0028] Step 4: Improve the heading stability during collision avoidance through a highly reliable heading stability maintenance method based on speed obstacles.

[0029] Step 5: Output new instruction information.

[0030] The basic principle of the high-confidence local environment modeling method described in step 2 is to fully consider the influence of the radar blind zone, update the obstacle position and size information in real time outside t...

Embodiment 2

[0038] combine figure 1 In the process of autonomous navigation, the unmanned boat needs to make judgments on possible collisions and take corresponding avoidance measures. In the figure, A is the current position of the surface unmanned vehicle, with the speed V A , The boat advances at the heading angle α (in the ocean environment, the surface unmanned boat is simplified to a point). B is a circular obstacle with a radius R and a circle center at B, at a speed of V B , The bow angle β advances. ΔV is V A with V B The resultant velocity of is in the direction of The angle between the line and the line of sight AB is γ. Decompose △V into velocity V along the line of sight AB direction S and the velocity V perpendicular to the direction AB θ :

[0039]

[0040] combine figure 2 , with the current position of the unmanned boat as the origin, the bow direction of the boat is the positive direction of the X-axis, and the port side is the positive direction of the Y-...

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Abstract

The invention provides an autonomous danger avoidance method suitable for a high-speed surface unmanned boat. Step 1: obtain the current status, command information and surrounding obstacle information of the unmanned boat; step 2: establish an environment model of the unmanned boat through the method of high-reliability local environment modeling; step 3: output information about the stable obstacles in the current environment model; step 4: obtain new command information through a highly reliable course stability maintaining method based on speed obstacles; step 5: output the new command information. The invention can effectively improve the credibility of the position and size of obstacles within the detection range of the unmanned boat; the method can avoid unnecessary course adjustment at the same time, and effectively guarantees the autonomous navigation safety of the high-speed unmanned boat. A large number of high-speed autonomous danger avoidance tests (greater than or equal to 40 knots) prove that the invention can guarantee the autonomous and safe navigation of high-speed unmanned boats in different actual marine environments.

Description

technical field [0001] The invention relates to a method for controlling a surface unmanned boat, in particular to an autonomous danger avoidance method suitable for a high-speed surface unmanned boat. Background technique [0002] The unmanned surface vehicle (USV) is a special surface unmanned platform with functions such as autonomous navigation, autonomous obstacle avoidance, and autonomous detection of environmental information in the target area. / Combat radius and good stealth and anti-overturning capabilities, can be deployed and recovered by large and medium-sized ships or shore base stations. The surface unmanned boat has outstanding advantages such as high speed, large endurance, good economy, stealth, shallow draft, small size, easy mass production, and convenient layout, so it is very suitable as a general, unmanned, intelligent, Informatization and marine weapons and equipment with better economy. At the same time, the surface unmanned vehicle can undertake ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 庄佳园张磊王博孙寒冰罗靖苏玉民曹建沈海龙
Owner HARBIN ENG UNIV
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