Multi-target path planning method for unmanned cruise ship under dynamic obstacle

A dynamic obstacle and path planning technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of not being able to traverse multiple target points and affect the operating efficiency of cruise ships, so as to shorten the path planning time and solve the problem of path planning. The effect of planning problems and shortening the time consumed

Active Publication Date: 2020-07-28
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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Problems solved by technology

[0003] However, the path planning of intelligent water quality sampling cruise ships has always been the focus and difficulty of scholars at home and abroad. Whether the path selection is reasonable or

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  • Multi-target path planning method for unmanned cruise ship under dynamic obstacle
  • Multi-target path planning method for unmanned cruise ship under dynamic obstacle
  • Multi-target path planning method for unmanned cruise ship under dynamic obstacle

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Embodiment Construction

[0056] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0057] The present invention proposes a multi-objective path planning method for unmanned cruise ships under dynamic obstacles, using the D*Lite algorithm and the improved gray wolf optimization algorithm to plan the optimal path for the water quality sampling cruise ship to collect multiple target points, such as figure 1 As shown, it specifically includes the following steps:

[0058] Step 1: The UAV collects images of the environment of the lake surface, uses the grid method to segment, obtains the grid map and sets the starting point and d sampling points;

[0059] Specifically: first, divide the lake surface image into grids of equal size to form a grid map; set obstacles in the environment as black grids, fill irregular obstacles, and set feasible areas as white Grid, select and set a starting point and d sampling points using two-dimensional coordinates in the ...

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Abstract

The invention discloses a multi-target path planning method for an unmanned cruise ship under a dynamic obstacle, and relates to the technical field of water quality sampling and path planning. The method comprises the steps that: an unmanned aerial vehicle collects an image of a lake surface environment, grid segmentation is carried out, and a starting point and a plurality of sampling points areset on a grid map; an improved grey wolf optimization algorithm is adopted to perform sequence optimization on the plurality of sampling points, and the sampling points with the optimal sequence aremarked on a map one by one; an optimal grid path is calculated between every two sampling points marked in the grid map by utilizing a D* Lite algorithm to obtain an optimal path from the starting point to the final sampling point; and finally, the autonomous cruise ship completes cruise along the optimal path. According to the invention, the convergence factor in the grey wolf optimization algorithm is improved, the global search capability and the local search capability of the grey wolf optimization algorithm are balanced, the convergence speed and the stability of the grey wolf optimization algorithm are improved, and the path planning of a plurality of target points in a dynamic unknown environment can be realized.

Description

technical field [0001] The invention belongs to the technical field of water quality sampling and path planning in lake basins, in particular to a multi-objective path planning method for an unmanned cruise ship under dynamic obstacles. Background technique [0002] Nowadays, water environmental protection issues are getting more and more attention from the state. With the development of science and technology, in the field of water quality sampling, intelligent water quality sampling cruise ships are gradually replacing manual collection, and their applications are becoming more and more extensive. [0003] However, the path planning of the intelligent water quality sampling cruise ship has always been the focus and difficulty of scholars at home and abroad. Whether the route selection is reasonable or not directly affects the operating efficiency of the cruise ship. A method that is suitable for the current environment and can quickly plan the optimal sampling path can si...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 于家斌刘冠东王小艺许继平赵峙尧王立白玉廷孙茜张慧妍
Owner BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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