Global-local hybrid unmanned ship path planning method based on dynamic constraints

A path planning, unmanned ship technology, applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of not being able to generate quickly

Active Publication Date: 2020-07-10
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] According to the above-mentioned technical problem that the existing path planning method cannot quickly generate a shortest path that conforms to the maneuvering chara

Method used

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  • Global-local hybrid unmanned ship path planning method based on dynamic constraints
  • Global-local hybrid unmanned ship path planning method based on dynamic constraints
  • Global-local hybrid unmanned ship path planning method based on dynamic constraints

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Embodiment

[0088] like figure 1 As shown, the present invention provides a global-local hybrid unmanned ship path planning method based on dynamic constraints, comprising the following steps:

[0089] S1. Construct the kinematics model of the unmanned ship, and perform dynamic analysis on the constructed kinematics model of the unmanned ship;

Embodiment approach

[0090] Further as a preferred embodiment of the present invention, the step S1 is specifically:

[0091] S11. Construct the kinematics model of the unmanned ship, the kinematics model of the unmanned ship is specifically as follows:

[0092]

[0093]

[0094]

[0095] Among them, (x, y, ψ) represent the position and heading of the unmanned ship in the earth coordinate system, and (u, v, r) represent the forward velocity, lateral velocity and heading angular velocity of the unmanned ship in the hull coordinate system, respectively;

[0096] S12. For the underactuated unmanned ship model, due to the limitation of forward and yaw dynamics, the lateral velocity v is bounded. Therefore, in the case of dynamic constraints, it is necessary to constrain the forward velocity and the yaw angular velocity, and the two The speed is limited by:

[0097]

[0098] in, is the restricted boundary; represents the forward acceleration, Indicates the yaw angular acceleration; ...

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Abstract

The invention provides a global-local hybrid unmanned ship path planning method based on dynamic constraints. The global-local hybrid unmanned ship path planning method comprises the steps of: S1, constructing an unmanned ship kinematics model, and conducting kinetic analysis; S2, considering a safety range of an unmanned ship, realizing the planning of a global path of the unmanned ship by adopting a storage node mode, and constraining the safe driving of the unmanned ship by optimizing the generated path points; S3, for a dynamic unpredictable environment, constructing a hierarchical structure based on an FDM fuzzy decision module and an FDW precise dynamic window module, and realizing the planning of a local path of the unmanned ship, precisely taking drivable forward, heading angular velocities and acceleration into account in the planning of the local path, and generating a traceable path that enables real-time local collision avoidance; S4, and fusing a global path planning scheme and a local path planning scheme of the unmanned ship to form a global-local hybrid obstacle avoidance strategy. According to the global-local hybrid unmanned ship path planning method, virtual pathpoints are inserted into the global optimal path, so that global and local path planning is perfectly combined, and the whole path tracking task is completed.

Description

technical field [0001] The present invention relates to the technical field of unmanned ships, in particular to a global-local hybrid unmanned ship path planning method based on dynamic constraints. Background technique [0002] With the widespread application of unmanned ship technology in civilian and military fields, in order to enable unmanned ships to perform tasks autonomously in severe environments that humans cannot reach, it is necessary to design a path that conforms to the motion characteristics of unmanned ships and can ensure a safe path. The planning method is particularly important. In the actual path planning algorithm, the combination of global planning and real-time dynamic collision avoidance can solve the path planning problem well. The method of processing the map as a grid map is adopted by many games and robot path planning. Such methods include A* method, A*PS method, etc., but the path generated by this method is too long and unrealistic. The path ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D2201/02G05D1/0206
Inventor 王宁黎承忠徐宏威陈廷凯陈浩华贾玉森
Owner DALIAN MARITIME UNIVERSITY
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