Inland river unmanned ship collision avoidance method based on model predictive control

Abstract

The invention discloses an inland river unmanned ship collision avoidance method based on model predictive control. The method belongs to the field of unmanned ship path planning, and specifically comprises the following steps: 1, modeling a safe area of an unmanned ship and a dynamic obstacle; 2, converting an optimal control problem of collision avoidance of the unmanned ship into a nonlinear programming problem; 3, constructing a cost function of the control target, the speed and the speed increment; 4, constructing a cost function for evaluating the unmanned ship collision avoidance control rule conformity; 5, taking the solved state of the unmanned ship without the collision risk at the next moment as the state of the unmanned ship at the current moment; and 6, finally realizing autonomous collision avoidance of the unmanned ship to dynamic and static obstacles. According to the method, the characteristic that constraints in multiple aspects can be considered through model predictive control is utilized, the influence of factors such as inland river navigation rules, unmanned ship kinematics constraints and channel conditions is comprehensively considered, rolling optimization is continuously conducted on the unmanned ship, accordingly, a path without collision risks is calculated, and autonomous collision avoidance of the unmanned ship to dynamic and static obstacles is achieved.

Description

technical field [0001] The invention belongs to the field of path planning of unmanned ships, and relates to a collision avoidance method for inland river unmanned ships based on model predictive control. Background technique [0002] Unmanned surface vehicle (USV) is an intelligent robot that can navigate autonomously on the water surface and can perform many dangerous and time-consuming tasks. In recent years, with the continuous development of computer technology, perception technology, and artificial intelligence technology, As well as the strong demand from business, scientific research and environmental protection, the related technology of unmanned ships has become a research hotspot in the field of robotics. [0003] Data show that when ships sail on the water, most accidents are caused by human errors. Therefore, having a good collision avoidance function not only reflects the level of intelligence of unmanned ships to a certain extent, but also the realization of u...

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Problems solved by technology

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the purpose of the invention is to autonomously avoid collisions for unmanned ships when navigating on inland waterways with narrow waterways, many cross-river bridges, high navigation density and high water flow velocity in some river sections. problem, a general and easy-to-implement collision avoidance method based on model predictive control is proposed

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