Bi-RRT unmanned ship multi-vessel navigation method and equipment considering rotation angle constraints

Abstract

The invention belongs to the field of unmanned boats and discloses a Bi-RRT unmanned boat multi-boat navigation method and equipment that considers rotation angle constraints. This method uses global task allocation and considers each unmanned boat route connected by nodes based on the assigned task planning, performs collision judgment and coordinated collision avoidance on route nodes, and determines whether the unmanned boat reaches the corresponding target point through node release. Finally, Until all unmanned boats arrive at the target point. The entire process considers the large scene, multi-tasking and flexibility of the unmanned ship, so the route planning should ensure efficiency. In the route planning algorithm of Bi-RRT, which considers the rotation angle constraints, the rotation angle constraints at the end of the expansion node and the connecting node are considered to adapt to the situation. The movement constraints of the human boat, with heuristic expansion, make the expansion of the tree more greedy and clear, and more efficient.

Description

Technical field [0001] The present invention belongs to the field of unmanned boats, and more specifically, relates to a Bi-RRT unmanned boat multi-boat navigation method and equipment that considers rotation angle constraints. Background technique [0002] Unmanned boat navigation is a key technology for its safe and autonomous navigation, and multi-boat 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 allocation, global route planning and route coordination strategies. For multi-ships, on the basis of establishing a global route, it is also necessary to consider the priority of the coordinated ships passing and adopt corresponding collision avoidance strategies, which can be adjusted in a timely and effective manner heading and speed. Navigate as quickly and safely as possible while ensuring the target mission. [0003] The Rapidly-exploring ...

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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