An Obstacle Avoidance Method for Fast Moving Surface Vessels

A fast-moving, surface craft technology, applied in non-electric variable control, two-dimensional position/channel control, instruments and other directions, can solve the problem of not being able to give obstacle avoidance time, etc., to achieve small distance, ensure safety, and short time. Effect

Active Publication Date: 2022-04-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing obstacle avoidance method of the surface boat cannot provide the obstacle avoidance heading with the shortest obstacle avoidance time and the shortest distance away from the original route when turning to avoid obstacles, and proposes a fast moving surface boat. Obstacle avoidance method

Method used

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  • An Obstacle Avoidance Method for Fast Moving Surface Vessels
  • An Obstacle Avoidance Method for Fast Moving Surface Vessels
  • An Obstacle Avoidance Method for Fast Moving Surface Vessels

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Experimental program
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Effect test

specific Embodiment approach 1

[0026] Specific implementation mode one: a method for avoiding obstacles of a fast-moving surface boat, the specific process is:

[0027] Step 1. Obtain the information of the obstacle boat that is in danger of colliding with the unmanned boat:

[0028] Step 11, installing GPS, AIS and other commonly used navigation equipment on the hull, the driver obtains the course and speed information of the unmanned boat and the course and speed information of the obstacle boat according to the navigation equipment;

[0029] Step 12, using the geometric obstacle avoidance method to obtain the closest encounter time TCPA and the closest encounter distance DCPA of the unmanned boat and the obstacle boat according to the obtained information;

[0030] Step 13, calculate the collision risk CRI of the unmanned boat and the obstacle boat according to the obtained TCPA and DCPA, when the CRI is greater than 0.5, there is a collision risk;

[0031] Step 14, use the navigation equipment to obtai...

Embodiment 1

[0076] Embodiment 1: Single dynamic obstacle collision avoidance simulation verification:

[0077] Assume that the initial speed of the unmanned boat is V=12kn, the course is 0°, the waypoint is set at the position of the unmanned boat at a distance of 10nmile, and the course of the dynamic obstacle boat is C t =270°, the speed is 13kn, the azimuth is 45°, and the distance is 3nmile.

[0078] The initial condition is that the speed of the obstacle boat is greater than that of the unmanned boat, and high-speed obstacle avoidance is adopted. In Figure 4(a), the outer big circle is the safety circle, and the small circle is the range where the obstacle boat is the center of the circle. OP1 and P1M are the scope of the original geometric obstacle avoidance planning, and the arc GF is opposite to the safe heading range of the unmanned boat sailing to P2. Draw the parallel lines P2R1 and P2R2 of CD and CE at P2, and draw the tangents P2A1 and P2A2 of the safety distance circle at ...

Embodiment 2

[0089] Embodiment 2: Multi-dynamic obstacle avoidance:

[0090] Set the unmanned boat to sail in the sea area where there are many dynamic obstacles. The initial heading of the unmanned boat is 0°, the initial speed is 12kn, the speed of the unmanned boat remains unchanged, and the next waypoint of the unmanned boat is at the unmanned The azimuth of the boat is 0° and the distance is 10nmile. According to the information obtained by AIS, there are four obstacle boats near the unmanned boat. If the obstacle boat threatens the navigation of the unmanned boat, the unmanned boat will keep Avoidance sailing is carried out under the condition of constant speed. The relevant parameters of the four obstacle boats are shown in the table below:

[0091] table 3

[0092] obstacle boat distance position course speed T1 3.00 45.00 270.00 13.00 T2 4.00 0.00 45.00 15.00 T3 5.01 356.11 - - T4 7.28 344.05 90.00 4.00

[0093] Navigation s...

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Abstract

The invention relates to an obstacle avoidance method for a fast-moving surface boat, which belongs to the field of route planning. The present invention aims to solve the problem that the existing obstacle avoidance method for surface boats cannot provide an obstacle avoidance heading with the shortest obstacle avoidance time and the shortest distance away from the original route when turning to avoid obstacles. The present invention includes: obtaining the information of the obstacle boat which has the collision risk with the unmanned boat; calculating the relative motion information of the unmanned boat and the obstacle boat according to the acquired information; calculating the best obstacle avoidance time according to the relative operation information; Determine the re-entry point and the execution time of the obstacle avoidance process on the basis of the time limit; use the best obstacle avoidance time as a reference to determine the relative position information and avoidance range of the unmanned boat and the obstacle boat; calculate the return of the unmanned boat according to the avoidance direction and distance The course route is obtained; the course selection function for the obstacle avoidance of the unmanned vehicle is obtained; the course selection function is selected within the safe course range to obtain the course that makes the collision avoidance behavior of the unmanned vehicle optimal. The invention is used for selecting the heading of the surface craft for avoiding obstacles.

Description

technical field [0001] The invention belongs to the field of route planning, in particular to an obstacle avoidance method for a fast-moving surface boat. Background technique [0002] With the vigorous development of the maritime market, the safety factor of surface boats has been brought along. The conflicts between ships on the sea have intensified, and it is increasingly necessary to increase protection measures for surface boats. In the process of conducting research on unmanned boats, the most important thing is to increase their obstacle avoidance capabilities, so that they can take the best means to avoid collisions according to their current situation. [0003] At present, there are many ways to realize collision avoidance, including: geometric collision avoidance, speed barrier, artificial potential field, simulated annealing, genetic algorithm, etc. Because surface boats operate at sea, they must also abide by some military rules. Geometric collision avoidance c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 张勋杨赛强邢文周晓周张宏瀚严浙平徐健陈涛周佳加
Owner HARBIN ENG UNIV
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