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USV obstacle avoidance method based on circular trajectory unit

A circular trajectory and unmanned boat technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., to achieve the effect of avoiding static and dynamic obstacles

Active Publication Date: 2020-05-08
WUHAN UNIV OF TECH
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Problems solved by technology

Aiming at the technical defects of the existing surface unmanned boat driving, a motion planning and collision avoidance method for the unmanned boat adapted to the existing complex waters is proposed to help realize the precise motion planning of the surface unmanned boat

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  • USV obstacle avoidance method based on circular trajectory unit
  • USV obstacle avoidance method based on circular trajectory unit
  • USV obstacle avoidance method based on circular trajectory unit

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Embodiment Construction

[0051] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] like figure 1 As shown, an unmanned vehicle obstacle avoidance method based on a circular trajectory unit includes the following steps:

[0053] 1) Determine the starting point and end point of the motion path of the unmanned vehicle;

[0054] 2) Determine the real-time waypoint and heading angle where the UAV is located;

[0055] 3) According to the real-time waypoint and heading angle of the unmanned boat, the trajectory unit of the unmanned boat movement and the waypoint of the obstacle, the reachable waypoint is obtained;

[0056] The generation method of the track unit is as follows:

[0057] 3.1) Use the MM...

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Abstract

The invention discloses an obstacle avoidance method based on a circular trajectory unit. According to the method, dynamic characteristics of an unmanned surface vehicle (USV) can be well combined with an obstacle avoidance process. Firstly, an arc grid allows candidate heading and path points of the USV to change continuously on an arc, and the candidate heading and path points have good correlation with a continuous motion curve; and secondly, the problem of complete space coverage is solved by utilizing a circular grid tree search structure. The trajectory unit adds trajectory constraints into a spatial search process, and the combination of a motion curve and obstacle avoidance is realized. And finally, the problems of discretization of the trajectory and maintenance of the continuityof a final path through a standardization rule are solved. According to the method, a new motion planning obstacle avoidance method is provided, static and dynamic obstacles can be well avoided by applying the method, the avoidance path not only conforms to the dynamic characteristics of the unmanned surface vehicle, but also provides a steering instruction for the operation of the unmanned surface vehicle, so that precise motion planning of the unmanned surface vehicle is realized in an assisted manner.

Description

technical field [0001] The invention relates to the field of intelligent navigation, in particular to an obstacle avoidance method for an unmanned boat based on a circular trajectory unit. Background technique [0002] For unmanned vehicles, ships, etc., safety is the primary problem to be solved when performing tasks. Avoiding collisions is key to driving safely. For underactuated systems, such as unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs) and unmanned unmanned surface vehicles (USVs), the study of collision avoidance needs to consider kinematic and dynamic constraints. Therefore, a key issue discussed in autonomous driving is motion planning for collision avoidance. Generally speaking, there are two problems to be solved in the motion planning and collision avoidance of unmanned vehicles: map modeling and collision avoidance algorithm. [0003] Map modeling is the basis of collision avoidance algorithms. Collision avoidance algorithms cannot funct...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 文元桥杜哲顾尚定周春辉肖长诗黄亮张帆
Owner WUHAN UNIV OF TECH
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