Unmanned sailboat path tracking guidance method based on beetle antennae search optimization

A path tracking and sailing technology, which is applied in two-dimensional position/channel control, vehicle position/route/height control, control/regulation system, etc., can solve the problems of complex calculation and inability to handle unmanned sailing tracking tasks, and achieve Improved security, ease of programming implementation, and improved performance

Pending Publication Date: 2022-05-24
YANSHAN UNIV
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Problems solved by technology

The mathematical description of the algorithm is intuitive and the calculation is simple, but it cannot handle the tracking task of the unmanned sailing ship on the curved reference path
For curved path tracking tasks, there is a parallel guidance algorithm based on the Serret-Frenet coordinate system, but this algorithm still has the disadvantage of complex calculations

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  • Unmanned sailboat path tracking guidance method based on beetle antennae search optimization
  • Unmanned sailboat path tracking guidance method based on beetle antennae search optimization
  • Unmanned sailboat path tracking guidance method based on beetle antennae search optimization

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Embodiment Construction

[0087] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, such as figure 1 Shown is the flow chart of the path tracking guidance or navigation method for unmanned sailboats based on beetle search optimization.

[0088] S1: Collect sailboat sailing data parameters;

[0089] The sailing data during the sailing process is collected by sonar, radar, sensors and other equipment; the sailing data specifically includes: the reference heading angle is ψ d , the sailing angle is ψ, the angle between the sailing speed direction and the selected obstacle is ψ 1 , the angle ψ between the speed direction of the obstacle and the sailboat 2 , the speed of the sailboat is u 1 , the speed of the obstacle is u 2 , the angle between the vertical distance from the sailboat to the reference path and the distance between the sailboat and the target point is β, and the ordinate y of the obstacle 0 , the abscissa x of the obstacle 0 ...

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Abstract

The invention relates to an unmanned sailboat path tracking guidance method based on beetle antennae search optimization. The unmanned sailboat path tracking guidance method comprises the following steps that 1, data parameters in the sailing process of a sailboat are collected; 2, constructing a sailboat path tracking guidance cost function about obstacle collision avoidance, path tracking, speed loss and voyage loss; and step 3, a cost function of sailboat path tracking guidance is solved based on longhorn beetle search optimization. According to the method, a beetle antennae search method is combined with constrained optimization, a guidance problem is converted into a beetle antennae optimization problem, a beetle antennae search algorithm is improved to improve the performance of the algorithm, convergence of an actual course angle to a reference course angle is ensured, and the accuracy of the algorithm is improved. The invention provides an unmanned sailboat guidance method which is described in a complete expression manner and is easy to realize by programming. The method is suitable for path tracking and collision avoidance mixed guidance of the unmanned sailboat, can cope with a more complex marine environment, and greatly improves the sailing safety of the unmanned sailboat.

Description

technical field [0001] The present application relates to the application field of ship control engineering and ship automated navigation equipment, and in particular to a path tracking and guidance method for unmanned sailboats based on beard hunting and optimization. Background technique [0002] The beetle search method is an optimization algorithm that imitates the foraging behavior of beetles. For a cost function, under inequality constraints, find a state that minimizes the cost function. [0003] For the path tracking task, the existing guidance applies the LOS path tracking guidance algorithm of conventionally powered ships to the unmanned sailboat, and sets the channel along the reference path to limit the lateral offset generated by the unmanned sailboat while performing the feature manipulation. The mathematical description of is not intuitive and requires the drift angle of the unmanned sailboat (that is, the angle between the ship's heading and the actual headi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 邓英杰张洁刘涛巩明德倪涛
Owner YANSHAN UNIV
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