Obstacle avoidance method for unmanned ship with long towed line array

Abstract

The invention relates to the technical field of ship control, and particularly discloses an unmanned ship obstacle avoidance method with a long towed line array. The method comprises the following steps: S1, constructing a water surface obstacle expansion area; S2, calculating the relative position and the relative speed of the obstacle relative to the unmanned ship; S3, obtaining a speed obstaclearea of the unmanned ship; S4, dividing the velocity obstacle area vector into a plurality of velocity obstacle grids, wherein each velocity obstacle grid corresponds to the navigational speed and the navigational direction; calculating a nearest meeting distance DCPA corresponding to each speed obstacle grid and a time value TCPA for reaching the nearest meeting distance; S5, calculating a costfunction of each speed obstacle grid; and S6, selecting the speed obstacle grid with the minimum cost function as a control instruction of the unmanned ship with the long towed line array in the nextstep. By the adoption of the technical scheme, overall obstacle avoidance of the long towed line array and the water surface unmanned ship can be achieved.

Description

technical field [0001] The invention relates to the technical field of ship control, in particular to an obstacle avoidance method for an unmanned ship with a long towed line array. Background technique [0002] Under the trend of intelligent development of ships, the use of unmanned ships to replace personnel to perform tasks has become a current research hotspot. In order to fully guarantee the navigation safety of unmanned ships, scholars at home and abroad have proposed collision avoidance methods for unmanned ships. One of the typical methods is the dynamic obstacle avoidance method for unmanned vehicles with elliptical collision cones proposed by Shanghai University (Pu Huayan, Ding Feng, Li Xiaomao, et al. Dynamic obstacle avoidance method for unmanned vehicles based on elliptical collision cones[J]. Journal of the Chinese Academy of Sciences, 2017(7).), according to the "International Rules for Avoiding Collisions at Sea", the elliptic clustering of dynamic ships im...

AI Technical Summary

Problems solved by technology

For example, underwater detection unmanned ships are often equipped with relatively expensive towing task loads. If the previous method of obstacle avoidance design for unmanned ships is used, excessive maneuvering and continuous turning maneuvers may cause the towing cable array to become knotted. , breakage, the hysteresis of the underwater towed body’s follow-up movement may even cause the towed cable to be entangled in the propellers of other ships, causing greater losses

[0004] At present, in order to improve the efficiency of sea detection, the towed line array is getting longer and longer, and some towed line arrays have reached nearly a kilometer, which further increases the difficulty of obstacle avoidance.

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