Obstacle collision avoidance method based on dynamic security domain and collision avoidance rule

Abstract

The invention relates to an obstacle collision avoidance method based on a dynamic safety domain and a collision avoidance rule. The method comprises the steps of obtaining the basic information of an unmanned ship and interference ships according to an unmanned ship sensor and a ship automatic recognition system, determining the relative speeds and the relative azimuth angles beta of the unmanned ship and the interference ships, and determining the encountering situation between the ships based on the collision avoidance rule; establishing a dynamic prohibition area and a dynamic reaction area which take the interference ships as the centers according to the scales, the maneuverability, the relative speeds and the relative azimuth angles of the encountering ships; and judging the collision risk between the unmanned ship and the interference ships, under the condition that a collision risk exists, carrying out collision avoidance operation, determining collision avoidance operation modes during the encountering of the unmanned ship and a single interference ship and multiple interference ships according to the collision avoidance rule, determining local collision avoidance road points, planning a collision avoidance path, and judging the time when collision avoidance is finished. According to the method of the invention, the unmanned ship can avoid obstacles while sailing along a pre-planned path, and a basis is provided for safe sailing of the ship.

Description

technical field [0001] The invention relates to an autonomous dynamic collision avoidance method for an unmanned ship, in particular to an obstacle collision avoidance method based on a dynamic safety domain and collision avoidance rules. Background technique [0002] Unmanned ships can be used in various applications in many scientific, civil and military fields, such as maritime transportation and surveying, maritime search and rescue, military defense and environmental monitoring. Unmanned ships have the advantages of low energy consumption and low labor costs. Many countries are vigorously developing unmanned ships. According to research, about 50% of marine accidents are caused by human errors, and another 30% of accidents are discovered and prevented by humans. Using intelligent anti-collision systems, unmanned ships can avoid human errors and reduce losses. [0003] Unmanned ship path planning is divided into global path planning and local path planning. Global path...

AI Technical Summary

Problems solved by technology

However, different ships have different maneuvering characteristics such as longitudinal distance, advance distance, lag distance, etc., and factors such as the relative speed and relative heading between the unmanned ship and the target ship will affect the response distance of the unmanned ship for collision avoidance control.

However, the integrated guidance method does not consider factors such as the maneuvering characteristics of the unmanned ship, the length of the ship, the speed of the ship, and the course, which will cause the unmanned ship to be unable to adjust the size of the collision avoidance area reasonably according to the encounter status, which may lead to The collision avoidance trajectory is too long and the collision avoidance fails

Secondly, the traditional algorithm ends collision avoidance when the distance between the unmanned ship and the target ship exceeds a fixed distance, which will lead to too long collision avoidance trajectories and increase operating costs

[0005] In addition, in order to enable ships to reach a consensus on collision avoidance operations, all seagoing ships should abide by the provisions of the International Maritime Collision Avoidance Regulations (referred to as "Collision Avoidance Regulations"), otherwise they will fail to understand each other's collision avoidance collision hazard

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