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Multi-objective path planning method for unmanned cruise ship under dynamic obstacles

A dynamic obstacle and path planning technology, applied in navigation, surveying and 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 time of path planning and solve the problem of path planning. The effect of planning problems and shortening the time consumed

Active Publication Date: 2021-03-05
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 not directly affects the operating efficiency of cruise ships.
However, this algorithm can only solve the problem of a single target point, and cannot use this algorithm to traverse multiple target points

Method used

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  • Multi-objective path planning method for unmanned cruise ship under dynamic obstacles
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  • Multi-objective path planning method for unmanned cruise ship under dynamic obstacles

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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 the obstacles in the environment as black grids, fill the irregular obstacles, and set the feasible area as white Grid, using two-dimensional coordinates to select and set a starting point and d sampling ...

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Abstract

The invention discloses a multi-objective path planning method for an unmanned cruise ship under dynamic obstacles, and relates to the technical fields of water quality sampling and path planning. First, the UAV collects images of the lake environment, performs grid segmentation, and sets the starting point and several sampling points on the grid map; the improved gray wolf optimization algorithm is used to optimize the order of several sampling points, and each of the optimal order Mark the sampling points on the map one by one; use the D*Lite algorithm to calculate the optimal grid path between every two sampling points marked in the grid map, and obtain an optimal path from the starting point to the final sampling point ; Finally, the autonomous cruise ship completes the cruise along the optimal path. The invention improves the convergence factor in the gray wolf optimization algorithm, balances the global search and local search capabilities of the gray wolf optimization algorithm, improves the convergence speed and stability of the gray wolf optimization algorithm, and can realize multiple path planning for a target point.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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