Real-time route optimization method and navigation method of unmanned boat driven by natural energy considering wave propulsion

An unmanned boat and natural energy technology, applied in the direction of propulsion-based emission reduction, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as inapplicability, achieve real-time dynamics, increase wave energy The effect of capturing ability and improving endurance

Active Publication Date: 2021-05-14
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, some path planning methods of wave glider are not suitable for natural energy-driven unmanned boats

Method used

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  • Real-time route optimization method and navigation method of unmanned boat driven by natural energy considering wave propulsion
  • Real-time route optimization method and navigation method of unmanned boat driven by natural energy considering wave propulsion
  • Real-time route optimization method and navigation method of unmanned boat driven by natural energy considering wave propulsion

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specific Embodiment approach 1

[0036] Specific implementation mode one: refer to figure 2 and image 3 Specifically illustrate the present embodiment, the real-time route optimization method of the natural energy driving unmanned boat considering wave propulsion described in the present embodiment is as follows:

[0037] During the voyage of the unmanned boat, the bow is calculated as 0 degrees, the wave encounter angle α in the interval of clockwise rotation to 180 degrees is 0 to -180 degrees (not including 180 degrees), and the wave encounter angle α in the interval of counterclockwise rotation to 180 degrees The encounter angle α is 0 to 180 degrees (including 180 degrees). Among them, when α∈(-90, 90), it is called a straight wave; when α∈(-90,-180)∪(90,180], it is called a top wave; when α=90, it is called a cross wave.

[0038] When α=90, the unmanned boat encounters a transverse wave, the direction of the wave is perpendicular to the forward direction of the unmanned boat, and the thrust cannot b...

specific Embodiment approach 2

[0047] Specific implementation mode two: refer to the figure figure 1 , figure 2 and image 3 Specifically illustrate this embodiment, the navigating method of the natural energy-driven unmanned boat that considers wave propulsion described in this embodiment, comprises the following steps:

[0048] Step 1: Under the condition of using natural energy to drive the unmanned vessel, plan the offline path of the unmanned vessel on the grid map according to the mission requirements and the capture requirements of the energy system, and obtain the discrete navigation in the offline path. trace point. Among them, there are no obstacles between track points and the unmanned boat can pass through each track point. Let i be the serial number of each track point and the initial value of i is 0.

[0049] Step 2: Use natural energy to drive the unmanned boat to sail from the i-th track point to the i+1-th track point, and at the same time collect the wave environment near the i-th trac...

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Abstract

Considering the natural energy of wave propulsion, the real-time route optimization method and navigation method of unmanned boats are related to the path planning field of marine vehicles. The purpose of the invention is to optimize the route between nodes according to the wave environment and the planned course between track points that can naturally drive the original planned route of the unmanned boat. The route real-time optimization method and navigation method of the natural energy-driven unmanned boat considering wave propulsion described in the present invention rely on the boat-mounted sensor to sense the wave environment, and guide the small-scale navigation method in real time, with strong real-time dynamics and better performance. Meet engineering requirements. At the same time, this route correction method not only ensures that the unmanned boat can reach each mission node, but also ensures that the wave energy capture capability between nodes is increased, and the endurance of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of path planning, in particular to the path planning of marine vehicles. Background technique [0002] Energy capture is very important for ocean vehicles that require long self-sustainability. Only by increasing the ability to capture external energy as much as possible can we effectively realize tasks such as monitoring and surveying in the ocean. At present, in practical engineering applications, different marine vehicles use different marine environmental energy sources, mainly focusing on solar energy, wave energy, wind energy, and temperature difference energy. At present, wave energy is one of the main sources of energy acquisition for marine structures on the water surface. Wave energy refers to the kinetic energy and potential energy of waves formed by the surface seawater of the ocean under the action of sea wind. Wave energy appears in the form of mechanical energy. Yang Canjun pointed out in "A...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T70/5236
Inventor 贾琪廖煜雷庞硕李晔初昀
Owner HARBIN ENG UNIV
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