COLRGES-combined inverse speed obstacle method dynamic obstacle avoidance method

Abstract

The invention provides a COLRGES-combined inverse speed obstacle method dynamic obstacle avoidance method. The method comprises the steps of realizing local dynamic obstacle avoidance of an unmanned ship based on an inverse speed obstacle method; introducing a conflict detection function based on the inverse speed obstacle method, and detecting whether the unmanned ship and the obstacle have a collision risk or not in real time; and based on a maritime obstacle avoidance rule, adding an obstacle avoidance strategy when the ship is in a danger early warning area, and determining a decision of the ship after the ship is separated from the maritime obstacle avoidance rule. According to the invention, the inverse speed obstacle method is used for local dynamic obstacle avoidance of the unmanned ship so that the unmanned ship is prevented from being interfered by errors due to self-state detection, and the local obstacle avoidance capability of the unmanned ship is improved; a conflict detection function enhances the efficiency of the unmanned ship in obstacle avoidance decision and improves a local obstacle avoidance capability; the ship can quickly take more efficient response measures for obstacle avoidance in the danger early warning area; and the inverse speed obstacle method is combined with an improved maritime rule so that the high efficiency of dynamic obstacle avoidance of the unmanned ship in a local environment is improved, and the safety of the unmanned ship during sailing is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of ship application, in particular to a dynamic obstacle avoidance method combined with COLRGES inverse speed obstacle method. Background technique [0002] The speed obstacle method is a method applied to the dynamic collision avoidance of surface unmanned vehicles. Its principle is to establish an unmanned vehicle-obstacle U-O environment model after expanding the obstacles and unmanned vehicles to determine the collision area. Such as image 3 , 4 As shown, the U-O coordinate system is established, and at time t, the unmanned boat emits a ray L to the tangent direction on both sides of the obstacle 1 and L 2 , forming a speed collision cone; the speeds of unmanned boat A and obstacle B are V A and V B , the relative velocity of the two is V AB =V A -V B , if the relative velocity of the two is within the velocity collision cone, it is considered that the two will collide at some point in th...

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Problems solved by technology

[0003] When the speed obstacle method is running, it will always detect the speed and relative position of the unmanned boat and the dynamic obstacle itself, which leads to the fact that when the unmanned boat is performing self-state detection, it will be affected by the interference and detection of the device itself. Errors, resulting in errors in the detected speed and position information of the unmanned vehicle, which will cause errors in the selection of relative speeds, resulting in collisions between the unmanned vehicle and dynamic obstacles in the near future

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