Intelligent route planning method and system for unmanned ship

Abstract

The invention relates to an intelligent route planning method and system for an unmanned ship. The method comprises the following steps: loading external environment data, an electronic chart, navigation data, photoelectric data and task information; determining a task area and a boundary thereof according to the task information, and determining a current position of the unmanned ship according to the external environment data, the electronic chart, the navigation data and the photoelectric data; if the current position of the unmanned ship is located outside the task area, carrying out global route planning; and if the current position of the unmanned ship is located in the task area, performing local route planning. According to the invention, a hierarchical planning idea is adopted, a path planning unit, a trajectory planning unit and a task planning unit are designed based on the characteristics of the unmanned surface vehicle, environmental constraints and the like, and a multi-information intelligent fusion processing algorithm is adopted, so that an intelligent, autonomous and comprehensive route planning integrated system is formed.

Description

technical field [0001] The invention relates to the technical field of ship navigation planning, in particular to a comprehensive intelligent navigation planning method and system for path planning, trajectory planning, and task planning of unmanned boats. Background technique [0002] In recent years, with the gradual exploitation of marine resources, the world's major powers are shifting their national defense and diplomatic focus to the ocean. In addition, military equipment is also developing in the direction of unmanned. More and more attention. As an important part of the normal navigation of the unmanned boat, path planning means that the unmanned boat can plan an optimal or suboptimal path from the initial position state to the target position state without collision in an environment with obstacles, and Satisfying all constraints is one of the key technologies to realize the intelligence of unmanned boats. At present, most of the path planning algorithms are appli...

AI Technical Summary

Problems solved by technology

In contrast, our country's path planning, mission planning, and collision avoidance methods for surface unmanned boats are still relatively weak, and the mission of unmanned boats is single, and there are still many new technical functions that need further research and development and breakthroughs

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