An autonomous hazard avoidance method suitable for high-speed surface unmanned boats

An unmanned boat, dangerous technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instrument and other directions, can solve the obstacle instability, does not mention the obstacle avoidance course of high-speed unmanned boat Stability requirements and other issues to avoid the effect of heading adjustment

Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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  • 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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  • An autonomous hazard avoidance method suitable for high-speed surface unmanned boats
  • An autonomous hazard avoidance method suitable for high-speed surface unmanned boats
  • An autonomous hazard avoidance method suitable for high-speed surface unmanned boats

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Embodiment 1

[0024] combine Figure 8 , the autonomous danger avoidance method suitable for high-speed surface unmanned boats of the present invention comprises the following steps:

[0025] Step 1: Obtain the current UAV status, 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 in the collision avoidance process through a highly reliable heading stability maintaining method based on speed obstacles.

[0029] Step 5: Output new command 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 area, update the obstacle position and size information in real time outside the radar blind area, an...

Embodiment 2

[0038] combine figure 1 In the process of autonomous navigation, unmanned boats need to make judgments on possible collisions and take corresponding evasive measures. In the figure, A is the current position of the surface unmanned boat, with the speed V A , the boat heading angle α advances (in the marine environment, the surface unmanned boat is simplified to a point). B is a circular obstacle whose radius is R and whose center is at B, and the speed is V B , the boat heading angle β forward. △V is V A with V B The resultant velocity of , in the direction of The angle between the line connecting the sight line AB is γ. Decompose △V into the sub-velocity V along the line of sight AB S and the minute velocity V perpendicular to the AB direction 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 X axis, and the port side is the positive Y axis, and the relative motio...

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Abstract

The invention provides an autonomous danger avoidance method suitable for high-speed surface unmanned boats. Step 1: Obtain the current state of the unmanned boat, command information and surrounding obstacle information; Step 2: Establish an unmanned boat environment model through a high-confidence local environment modeling method; Step 3: Output the stabilized obstacle information in the current environment model ; Step 4: obtain new command information through the high-reliability heading stabilization method based on speed obstacles; Step 5: output new command information. The invention can effectively improve the reliability 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 ensure the safety of autonomous navigation of the high-speed unmanned boat. A large number of high-speed autonomous danger avoidance tests (≥40 knots) prove that the present invention can ensure the autonomous and safe navigation of high-speed unmanned boats in different actual marine environments.

Description

technical field [0001] The invention relates to a control method for 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 ability, can be deployed and recovered by large and medium-sized ships or shore base stations. Surface unmanned boats have outstanding advantages such as high speed, large endurance, good economy, stealth, shallow draft, small volume, easy mass production, and convenient layout, so they are very suitable as a general-purpose, unmanned, intelligent, Informatization and marine weapons and equipment with better economy. At the same time, surface UAVs can undertake long-term, auto...

Claims

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Application Information

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Patent Type & Authority Patents(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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