Unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and dynamic window method

A fruit fly optimization algorithm and dynamic window technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, instruments, etc., can solve problems such as ship collision accidents and safety threats, and achieve the effect of improving accuracy and efficiency

Active Publication Date: 2020-08-25
HARBIN ENG UNIV
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Problems solved by technology

At present, unmanned boats are intelligent equipment for autonomous navigation on the sea. Due to the uncertainty of the marine environment and th

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  • Unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and dynamic window method
  • Unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and dynamic window method
  • Unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and dynamic window method

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Embodiment Construction

[0032] In order to illustrate the technical solution of the present invention more clearly, the present invention will be briefly introduced below in combination with examples. combine now figure 1 , to illustrate the specific steps of implementation.

[0033] Step S1: Establish an electronic chart-based geographical environment model for unmanned marine navigation;

[0034] Obtain the geographical environment information of the sea area where the unmanned boat sails from the electronic chart, regard the islands as static obstacles, and "expand" the obstacles through the visual graphics method to obtain map information, such as figure 2 , saving the coordinates of visible points and the data of visible edges. Use inertial sensors such as marine accelerometers, gyroscopes, and magnetic compass to obtain the position information of the unmanned boat through dead reckoning, and specify the starting point and end point of the voyage.

[0035] Step S2: use the improved fruit fl...

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Abstract

The invention relates to the field of autonomous navigation of unmanned ships, in particular to an unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and a dynamic window method. The method comprises the following steps: S1, establishing an unmanned ship marine navigation geographical environment model based on an electronic chart; S2, completing global optimal path planning by adopting an improved fruit fly optimization algorithm; S3, establishing an environment model of the dynamic obstacle; and S4, using an improved dynamic window method to avoid the moving obstacle ship. According to the obstacle avoidance method for switching the dynamic obstacle avoidance mode and the static obstacle avoidance mode based on the judgment conditions, obstacles canbe effectively avoided during sailing, the algorithm is prevented from falling into a local optimal solution, the fuzzy control method is adopted for dynamically controlling the weight parameters of the optimal trajectory, and the trajectory prediction precision and efficiency are improved.

Description

technical field [0001] The invention relates to the field of autonomous navigation of unmanned boats, in particular to a layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window method. Background technique [0002] With the increasing importance of the ocean in the development process of our country, higher requirements are put forward for the development of marine intelligent equipment. Among them, unmanned boats have played a vital role in civil fields such as resource surveying, water monitoring, and marine meteorological monitoring, as well as military fields such as unmanned combat at sea and searching for enemy targets. At present, unmanned boats are intelligent equipment for autonomous navigation on the sea. Due to the uncertainty of the ocean environment and the complexity of maritime traffic navigation, static islands and moving ships pose a threat to the safety of unmanned boats at sea. There have been many ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王元慧刘冲丁福光张晓云王莎莎谢可超
Owner HARBIN ENG UNIV
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