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Unmanned surface vehicle path planning method based on Bi-RRT algorithm guided by improved artificial potential field method

An artificial potential field method and path planning technology, applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve problems such as excessive steering angle, difficult to adapt to sea navigation, and unevenness , to achieve the effect of increasing the corner constraint, reducing the randomness of the algorithm, and ensuring the completeness of the algorithm probability

Pending Publication Date: 2022-05-27
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

However, the algorithm still has problems such as too large steering angle, too long path, and unevenness, which makes it difficult to adapt to the requirements of sea navigation.

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  • Unmanned surface vehicle path planning method based on Bi-RRT algorithm guided by improved artificial potential field method
  • Unmanned surface vehicle path planning method based on Bi-RRT algorithm guided by improved artificial potential field method
  • Unmanned surface vehicle path planning method based on Bi-RRT algorithm guided by improved artificial potential field method

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[0053] It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings and the embodiments.

[0054] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obt...

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Abstract

The invention discloses an unmanned surface vehicle path planning method based on a Bi-RRT algorithm guided by an improved artificial potential field method, and belongs to the technical field of artificial intelligence. The method comprises the following steps: obtaining navigation information of an unmanned surface vehicle, and determining a starting point and a target point of the unmanned surface vehicle; constructing a bidirectional starting point extension tree and a bidirectional target point extension tree in a mutually staggered manner based on a Bi-RRT algorithm guided by an improved artificial potential field method; when the starting point extension tree and the target point extension tree meet the meeting condition, backtracking is conducted to the starting point extension tree and the target point extension tree from the meeting joint, and a safe and smooth global path of the unmanned ship is obtained. According to the method, navigation water area range information and starting point and target point position information are determined, and a path which is high in obstacle avoidance accuracy, excellent in smoothness and short in voyage is designed for the unmanned ship in advance.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence, and relates to a path planning method for a surface unmanned boat based on a Bi-RRT algorithm guided by an improved artificial potential field method. Background technique [0002] The unmanned surface vehicle (USV) is small in size and fast, and needs to plan a high-quality path for it to ensure that it can safely reach the target point and complete the corresponding water task. By comparing and analyzing the advantages and disadvantages of various path planning algorithms, based on Graphics and bionic algorithms need to rely on accurate environmental modeling to plan safe and reliable routes, while marine environmental information is limited and susceptible to interference, which cannot guarantee the safety and real-time planning. Therefore, the sampling-based rapid-exploring random trees (RRT) algorithm is a good choice. However, the algorithm still has problems such as too la...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 史国友张一帆刘娇高邈王玉闯
Owner DALIAN MARITIME UNIVERSITY
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