Unmanned ship navigation planning method in complex water area environment

Abstract

The invention relates to an unmanned ship navigation planning method in a complex water area environment, and the method comprises the steps: 1, obtaining the task content issued by an unmaned snhip control center according to task requirements of an unmanned ship; 2, performing unmanned ship navigation task stage division; 3, enabling the unmanned ship to detect and identify water-surface and underwater obstacles by carrying navigation equipment in a navigation sea area covered by the navigation capability, obtaining unknown environment information, and constructing a more complete water area environment; 4, according to the water area environment constructed in the step 3, taking the current position of the unmanned ship as an initial planning position, dividing the terminal point of the current stage as a navigation arrival area of the unmanned ship in the navigation task stage in the step 2, and performing navigation local path planning of the unmanned ship by using a fast search random tree algorithm; and 5, executing the planned route of the previous stage, which is completely planned, by using a rolling window strategy, and meanwhile, re-planning the navigation route of the next stage until the whole navigation task is finally completed. According to the invention, an effective solution is provided for construction of the unmanned ship in the complex water area environment.

Description

technical field [0001] The invention belongs to the field of intelligent navigation of unmanned boats, and in particular relates to a navigation planning method of unmanned boats in complex water environment. Background technique [0002] The unmanned boat is a small surface sports platform that can navigate autonomously in the ocean environment and complete various tasks. Using modern intelligent control technology, it can realize autonomous navigation and perform a series of task applications. As a multi-functional application platform, surface unmanned boats can replace manned boats for a series of surface operations and specific tasks. Unmanned boats have the characteristics of fast speed, flexible manipulation and high degree of automation. At present, many countries have developed unmanned boat technology and applications. With the continuous improvement of the intelligence level of unmanned boats, unmanned boats are of great significance to national defense security a...

AI Technical Summary

Problems solved by technology

The global path planning algorithm relies on known static water environment information, and cannot obtain complete navigation environment information, and there are potential threats to the final planned path

For the complex and changeable water environment, the local path planning algorithm needs to rely on navigation equipment to obtain environmental information in real time and update the navigation water environment model. Simple local path planning cannot complete the navigation tasks in complex waters

Images