Bi-RRT unmanned ship multi-ship navigation method and equipment considering corner constraint

Abstract

The invention belongs to the field of unmanned ships, and discloses a Bi-RRT unmanned ship multi-ship navigation method and equipment considering corner constraints. According to the method, through global task allocation, based on allocated task planning, unmanned ship routes connected with nodes are considered, collision judgment and coordinated collision avoidance are performed on route nodes, and whether the unmanned ships arrive at corresponding target points or not is judged through node release until all the unmanned ships arrive at the target points. Large scenes, multiple tasks and flexibility of the unmanned ship are considered in the whole process, so that high efficiency of route planning should be ensured, and in the Bi-RRT route planning algorithm considering the corner constraints, corner constraints at the tail ends of expansion nodes and connection nodes are considered to adapt to motion constraints of the unmanned ship; the expansion with heuristic enables the expansion of the tree to be more greedy and clearer, and the efficiency is higher.

Description

technical field [0001] The invention belongs to the field of unmanned boats, and more specifically relates to a Bi-RRT unmanned boat multi-boat navigation method and equipment considering rotation angle constraints. Background technique [0002] Unmanned vessel navigation is the key technology for its safe and autonomous navigation, while multi-vessel navigation planning is the key to ensuring navigation efficiency, which is of great significance to task coordination and efficient operations. Multi-ship navigation includes task assignment, global route planning, and route coordination strategy. For multi-ships, on the basis of establishing a global route, it is also necessary to consider the priority of cooperative ships passing through, and adopt corresponding collision avoidance strategies, which can be adjusted in a timely and effective manner. heading and speed. Under the premise of ensuring the target mission, sail as fast and safely as possible. [0003] Rapidly expa...

AI Technical Summary

Problems solved by technology

[0004] (1) The Bi-RRT algorithm has strong randomness in the global planning, and the convergence speed is slow, and the path of the connection point is tortuous;

[0005] (2) Bi-RRT can avoid collisions with obstacles in the global map, but it is difficult to solve the node conflicts of multiple boats

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