A layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window method

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

Active Publication Date: 2022-08-02
HARBIN ENG UNIV
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AI Technical Summary

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 the complexity of maritime traffic navigation, static islands and moving ships pose a threat to the safety of unmanned boats at sea. many collisions

Method used

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  • A layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window method
  • A layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window method
  • A layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window method

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Embodiment Construction

[0032] In order to illustrate the technical solutions of the present invention more clearly, the present invention will be briefly introduced below with reference to an example of implementation. combine now figure 1 , to describe the specific steps of implementation.

[0033] Step S1: establish a geographical environment model for unmanned boat navigation at sea based on electronic charts;

[0034] Obtain the geographic environment information of the unmanned boat navigation sea area from the electronic chart, regard the island as a static obstacle, and "expand" the obstacle through the visual method to obtain map information, such as figure 2 , which saves the coordinates of the visible points and the data of the 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 destination of the sailing.

[0035] Step S2: u...

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Abstract

The invention relates to the field of autonomous navigation of unmanned boats, and in particular, to a layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window methods. The invention includes: step S1: establishing a geographical environment model for maritime navigation of unmanned boats based on electronic charts; step S2: using an improved fruit fly optimization algorithm to complete global optimal path planning; step S3: establishing an environmental model of dynamic obstacles; Step S4: Use the improved dynamic window method to avoid moving obstacle ships. The present invention provides an obstacle avoidance method that switches between dynamic and static obstacle avoidance modes based on judgment conditions, which can effectively avoid obstacles during navigation, avoid the algorithm from falling into the local optimal solution, and adopt fuzzy control methods to determine the optimal trajectory. The weight parameters are dynamically controlled to improve the accuracy and efficiency of trajectory prediction.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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