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An Unmanned Vehicle Obstacle Avoidance Method Based on Circular Trajectory Cells

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

Active Publication Date: 2021-05-25
WUHAN UNIV OF TECH
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  • Abstract
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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

Method used

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  • An Unmanned Vehicle Obstacle Avoidance Method Based on Circular Trajectory Cells
  • An Unmanned Vehicle Obstacle Avoidance Method Based on Circular Trajectory Cells
  • An Unmanned Vehicle Obstacle Avoidance Method Based on Circular Trajectory Cells

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Embodiment Construction

[0051]In order to make the objectives, technical solutions and advantages of the present invention, the present invention will be further described in detail below with reference to the embodiments. It will be appreciated that the specific embodiments described herein are intended to explain the present invention and is not intended to limit the invention.

[0052]Such asfigure 1 As shown, a non-human boat avoidance method based on a circular trajectory unit includes the following steps:

[0053]1) Determine the starting point and end point of the drowning path;

[0054]2) Determine the real-time path point and the angle of the unoccupied;

[0055]3) According to the real-time path point and the trajectory unit, the path point of the unoccupied, the path point where the unoccupied movement is located, and the path point where the obstacle is located;

[0056]The method of forming the trajectory unit is as follows:

[0057]3.1) Use the MMG model to moderate the drownboat, and obtain the movement traje...

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Abstract

The invention discloses an obstacle avoidance method based on circular trajectory units. This method can well combine the dynamic characteristics of the unmanned vehicle with the obstacle avoidance process. First, the arc grid allows the candidate course and waypoints of the UAV to have continuous changes on the arc, which has a good correlation with the continuous motion curve. Secondly, using the structure of circular grid tree search, the problem of complete spatial coverage is solved. The trajectory unit adds trajectory constraints to the space search process, realizing the combination of motion curves and obstacle avoidance. Finally, the discretization of trajectories and maintaining the continuity of the final path are addressed by normalization rules. The method of the present invention provides a new motion planning obstacle avoidance method, which can well avoid static and dynamic obstacles, and the collision avoidance path not only conforms to the dynamic characteristics of the unmanned boat, but also provides Steering instructions, so as to help realize the precise motion planning of the surface unmanned vehicle.

Description

Technical field[0001]The present invention relates to the field of intelligent navigation, which is specifically a non-human boat avoiding method based on a circular trajectory unit.Background technique[0002]For unmanned vehicles, ships, etc., security is the issue of performing the top priority to the task. Avoid collision is the key to safe driving. For under-drive systems, such as unmanned ground vehicles (UGVs), drone aircraft (UAV) and droneless water-free boats (USV), the research needs to take into account kinematics and dynamics constraints. Therefore, a key issue discussed in unmanned driving is that exercise planning avoids. In general, there are two problems in the motion planning avoidance of the unknown, there is a need to resolve: map modeling and avoidance algorithm.[0003]Map modeling is the basis of avoiding the algorithm. If there is no appropriate and accurate map, the avoidance algorithm cannot fully function. The water surface without boat is more complicated in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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