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Unmanned ship collision avoidance method based on fuzzy control strategy double-window algorithm

A fuzzy control and unmanned boat technology, applied in the field of unmanned boat obstacle avoidance, can solve the problems that unmanned boats cannot adapt to sea conditions, do not consider the range limit of unmanned boats, and do not stipulate the end of the obstacle avoidance boundary of a single obstacle.

Pending Publication Date: 2021-03-09
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] However, the traditional DWA algorithm does not consider the range limit of the local information acquired by various sensors during the actual navigation of the unmanned vehicle, and does not stipulate the boundary for the end of single obstacle avoidance.
The weight of the algorithm evaluation function is fixed, and the unmanned boat cannot adapt to the complex sea conditions when navigating in dense obstacle sea areas

Method used

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  • Unmanned ship collision avoidance method based on fuzzy control strategy double-window algorithm
  • Unmanned ship collision avoidance method based on fuzzy control strategy double-window algorithm
  • Unmanned ship collision avoidance method based on fuzzy control strategy double-window algorithm

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Embodiment 1

[0128] When emphasizing the sailing speed, it is necessary to set β to be small and γ to be set to be large, that is, to sacrifice safety and ensure speed. The experimental setting is fixed at 1, and γ is 10. The experimental results are as follows Figure 8 shown. Figure 8 (a) is the trajectory map of the unmanned boat, the length of the entire trajectory is 118.10m, the number of iterations is 84, and the time is 10.938s. When passing through the dense obstacle area, the unmanned boat is too close to the obstacle, and the safety is low (the safety distance is 2.01m). Figure 8 (b) is the linear speed during navigation. It can be seen that the unmanned boat basically maintains the highest speed, even if it encounters obstacles and reduces the speed, it will quickly accelerate to the highest speed. Figure 8 (c) is the angular velocity during navigation. It can be seen from the corresponding trajectory diagram that there is no sharp turn during the navigation of the unmanne...

Embodiment 2

[0130] When emphasizing navigation safety, it is necessary to set β to be larger and γ to be smaller, that is, to sacrifice speed to ensure safety. The experimental settings are fixed at 10 for β and 1 for γ, and the experimental results are as follows Figure 9 shown. Figure 9 (a) is the trajectory map of the unmanned boat, the trajectory length is 117.40m, the number of iterations is 92, the time is 12.727s, and the safety distance is 3.53m. The trajectory length, number of iterations and time are all higher than the above experiments, but the safety is better (safety distance is 3.53m). Figure 9 (b) is the linear velocity during navigation. It can be seen that compared with the above experiments, the unmanned boat will slow down when encountering obstacles, and it is in a low-speed navigation state for part of the time. The angular velocity during navigation is similar to the above experiment.

Embodiment 3

[0132] When dynamic weight parameters are used, both speed and security can be guaranteed. The experimental results are as follows: Figure 10 shown. Figure 10 (a) is the trajectory map of the unmanned boat, the trajectory length is 118.80m, the number of iterations is 83, the time is 11.410s, and the safety distance is 2.79m. Compared with the previous two experiments, the unmanned boat can shorten the number of iterations and running time under the premise of ensuring safety, so that the unmanned boat has higher navigation efficiency. Figure 10 (b) is the linear speed during navigation, Figure 10 (c) is the angular velocity during the navigation process. It can be seen that compared with the previous two experiments, when encountering an obstacle, the appropriate speed will be selected to avoid the obstacle quickly under the condition of ensuring the speed, and there is no particularly small speed. Happening. Figure 11 For the comparison of trajectories under the thre...

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Abstract

The invention provides an unmanned ship collision avoidance method based on a fuzzy control strategy double-window algorithm, and the method comprises the steps: S1, determining a starting point and atarget range of an unmanned ship, and calculating a linear speed range and an angular speed range of a speed window; S2, updating visual window information through a visual sensor, and acquiring thecurrent intensity and the distance to the nearest object through calculation; S3, based on the current intensity and the distance to the nearest object, calculating a speed weight parameter and a safety weight parameter by adopting a fuzzy controller, and substituting the speed weight parameter and the safety weight parameter into an evaluation function; S4, updating a speed window, calculating aprediction track, normalizing the evaluation function, and selecting a proper speed combination as the navigation speed of the unmanned ship at the next moment according to the evaluation function; S5, executing the navigation speed of the unmanned ship at the next moment, judging whether the unmanned ship reaches a target area or not, and if yes, ending; otherwise, returning to the step S1. The problem of local optimum when the unmanned ship passes through a dense obstacle environment and the problem of overshoot speed selection of the unmanned ship are solved.

Description

technical field [0001] The invention relates to the technical field of obstacle avoidance of unmanned boats, in particular to a method for avoiding collisions of unmanned boats based on a fuzzy control strategy double-window algorithm. Background technique [0002] The unmanned surface vehicle is a light intelligent surface vehicle, which has the characteristics of small size, low cost, high speed and strong maneuverability. It is widely used in my country's environmental inspection, scientific research and exploration, underwater surveying and mapping, search and rescue, security patrol and other fields. Autonomous navigation is one of the core technologies of unmanned surface vehicles. In the actual marine environment, especially in complex environments such as islands, reefs, lighthouses, buoys and sailing ships encountered during navigation, it is difficult for unmanned surface vehicles to obtain complete information about the environment due to some variable factors. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 赵红张金泽程欢樊宇高阳
Owner DALIAN MARITIME UNIVERSITY
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