A Dynamic Programming Method for Unmanned Surface Vehicle

A technology of dynamic planning and unmanned boats, applied in the direction of non-electric variable control, instruments, control/regulation systems, etc., can solve the problems of difficult dynamic obstacle modeling and fast obstacle avoidance, and achieve efficient and reliable real-time dynamic planning and path safety , good real-time effect

Active Publication Date: 2022-01-18
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

[0010] The purpose of the present invention is to propose a dynamic planning method for surface unmanned boats to solve the problems of difficult modeling of dynamic obstacles and fast obstacle avoidance when traditional artificial potential field method is applied in the dynamic planning process of surface unmanned boats

Method used

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  • A Dynamic Programming Method for Unmanned Surface Vehicle
  • A Dynamic Programming Method for Unmanned Surface Vehicle
  • A Dynamic Programming Method for Unmanned Surface Vehicle

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Embodiment Construction

[0057] figure 1 It is a flow chart of the dynamic programming method for the surface unmanned vehicle of the present invention, comprising the following steps:

[0058] step 1:

[0059] Set the gravitational coefficient μ and repulsive coefficient η in the artificial potential field method, and the semi-major axis a of the surface unmanned vehicle q , semi-minor axis b q , initial position q s and the target point position q g , the semi-major axis a of the ship dynamic obstacle model p , semi-minor axis bp , half focal length c p , left focus position c p1 and right focus position c p2 , the semi-major axis A of the influence range of dynamic obstacles on the ship p and semi-minor axis B p The following constraints must be met:

[0060]

[0061] Ship dynamic obstacle model and its influence range such as figure 2 shown, and then go to step 2;

[0062] Step 2:

[0063] Determine whether the current position q of the surface unmanned boat has reached q g , if ...

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Abstract

The present invention relates to a method for dynamic planning of an unmanned surface vehicle. The method includes: considering that most of the dynamic obstacles encountered by an unmanned surface vehicle on the sea are ships, an ellipse model is established for the ship according to the shape characteristics of the ship; On the basis of the ellipse model, the ellipse model is analyzed to determine the scope of influence of dynamic obstacles on the ship, and an elliptical repulsion potential field is constructed within the scope of influence to provide repulsion, thereby guiding the surface unmanned vehicle to avoid dynamic obstacles; further consideration of dynamic obstacles on the ship Due to the instability and unpredictability of the movement, the surface unmanned vehicle needs to avoid dynamic obstacles in a short time, so the variable repulsion coefficient method is used to increase the repulsion and change the direction of the resultant force, so as to quickly guide the surface unmanned vehicle to avoid dynamic obstacles. The effect of obstacles.

Description

technical field [0001] The invention relates to a dynamic planning method for an unmanned water surface vehicle, which belongs to the field of motion manipulation and dynamic planning of marine unmanned vehicles. Background technique [0002] Due to the continuous expansion of marine defense and other needs, countries are making every effort to build an integrated marine unmanned platform, and surface unmanned vehicles have been fully developed as a new type of unmanned equipment. However, the dynamic programming of surface unmanned vehicle maneuvering is not yet mature. [0003] Commonly used dynamic programming methods include velocity repulsion field algorithm, dynamic window algorithm, vision algorithm, artificial potential field method, etc. Compared with other algorithms, the artificial potential field method has the advantages of short computing time, strong real-time performance, and good adaptability. However, the application of the traditional artificial potentia...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 孙明晓原张杰栾添添胡占永谢春旺王万鹏王涵旭王浩
Owner HARBIN UNIV OF SCI & TECH
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