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A path planning method for small unmanned ships

A technology for path planning and unmanned ships, which is applied in the direction of vehicle position/route/height control, instruments, control/regulation systems, etc. Problems such as man-ship applications and large calculation loads can achieve the effect of speeding up the departure from the local minimum, solving the problem of unreachable targets, and reducing the amount of calculation

Active Publication Date: 2022-04-08
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0007] At the same time, the existing improved algorithm for the artificial potential field method has a large computational load, and does not take into account the characteristics of small unmanned ships such as low cost and high mobility, and is not suitable for the application of small unmanned ships

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  • A path planning method for small unmanned ships
  • A path planning method for small unmanned ships
  • A path planning method for small unmanned ships

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[0049] Below, the technical solutions of the present application will be clearly and completely described in conjunction with the embodiments of the present application and with reference to the accompanying drawings. It should be noted that the embodiments described below are used to enable those skilled in the art to better understand the present application technical solutions, rather than representing all embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the scope of protection of this application.

[0050] Expressions such as "first" and "second" used in the description, claims and drawings of this application are to distinguish similar units or objects, not to limit a specific order or sequence, and cannot be understood To indicate or imply relative importance. In addition, the terms "comprising", "having" and any a...

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Abstract

The present invention relates to the technical field of ship automatic control and navigation, and provides a path planning method for a small unmanned ship, including the following steps: S1: Initialize environmental information, and determine the starting point position, target point position and obstacles in the environment of the small unmanned ship object information; S2: Determine the next position of the small unmanned ship relative to the current position, and reset the next position as the current position; S3: Determine whether the current position is the target point position, if so, end the path planning, if not, Then jump to step S4; S4: judge whether the current position is a local minimum position, if not, then jump to step S2, if yes, then jump to step S5; S5: plan small unmanned ship to break away from local minimum The path of the value position, jump to step S2 after the small unmanned ship leaves the local minimum position. The method provided by the invention can effectively solve the problem of target inaccessibility, and can make the small unmanned ship get away from the local minimum position more quickly.

Description

technical field [0001] The present application relates to the technical field of ship automatic control and navigation, in particular, to a path planning method for small unmanned ships based on an improved artificial potential field method. Background technique [0002] Small unmanned surface vehicle (Unmanned Surface Vehicle, referred to as USV) has been widely used in the surface survey tasks of oceans, lakes and rivers due to its advantages of high mobility, modularization and intelligence. The performance of a USV mainly depends on its ability to navigate autonomously, that is, its path planning. [0003] At present, the commonly used path planning algorithms for moving objects including USV mainly include: Dijkstra algorithm, A* algorithm (also known as A Star algorithm), artificial potential field method, neural network algorithm, grid method, genetic algorithm and the above algorithms Improved algorithm and fusion algorithm. Among them, the Artificial Potential Fie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 罗宇张杰施剑宋熙昭崔行宇
Owner SHANDONG UNIV OF SCI & TECH
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