A ship motion planning method, system, device and storage medium

Abstract

The present invention discloses a ship motion planning method, system, device and storage medium. The ship motion planning method comprises: obtaining map information and generating a navigation path; selecting waypoints on the navigation path; generating a target area according to the ship position and waypoints; performing motion planning according to the target area and the ship motion model to generate a first motion trajectory; generating a second motion trajectory according to the map information and the first motion trajectory, and returning to the step of generating the target area until the second motion path reaches the end point, and using the second motion trajectory as the ship motion planning path. The present invention finally obtains the ship motion planning path by planning the navigation path and the first motion trajectory considering the ship motion model, realizes the combination of navigation planning and motion planning, takes into account global and local planning, improves the rationality and reliability of ship motion planning, realizes path planning considering the ship motion characteristics, and makes the ship motion planning more adaptable to complex real-life scenarios.

Description

Technical Field

[0001] The present application relates to the field of intelligent navigation technology, and in particular to a ship motion planning method, system, device and storage medium. Background Art

[0002] In recent years, with the rapid development of technologies such as artificial intelligence, the Internet, big data, and the Internet of Things, smart ships have become one of the hot research topics in the shipbuilding and navigation fields.

[0003] As an important functional module of the ship-side system of intelligent ships, decision planning is one of the most challenging problems in the field of intelligent ships and an important factor restricting the intelligent ships from moving to a new level. Decision planning is the basis for ensuring the safe and efficient navigation of intelligent ships. Its main task is to calculate the safe and efficient motion trajectory from the starting point to the target point in the environment where the ship is located.

[0004] At present, most ship decision-making planning methods focus on path planning problems. Such methods usually generate pure geometric paths without considering the ship's own maneuvering characteristics. However, in complex real-world water scenes, such paths are difficult for ships to follow and may even cause the ship to collide with obstacles or surrounding ships. Summary of the invention

[0005] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0006] To this end, an object of an embodiment of the present invention is to provide a ship motion planning method, which implements ship path planning taking into account the ship motion characteristics.

[0007] Another object of an embodiment of the present invention is to provide a ship motion planning system.

[0008] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0009] In a first aspect, an embodiment of the present invention provides a ship motion planning method, comprising the following steps:

[0010] Get map information;

[0011] Perform navigation planning according to the map information to generate a navigation path, where the navigation path is the path of the ship from the starting point to the end point;

[0012] Selecting a number of waypoints on the navigation path;

[0013] generating a target area based on the vessel position and the waypoints;

[0014] Performing motion planning according to the target area and the ship motion model to generate a first motion trajectory;

[0015] generating a second motion trajectory according to the map information and the first motion trajectory, wherein the second motion path is an optimal path without collision;

[0016] confirming that the second motion trajectory has not reached the end point, taking the end of the second motion path close to the end point as the ship position, and then returning to the step of generating the target area according to the ship position and the waypoints until the second motion path reaches the end point;

[0017] If it is confirmed that the second motion trajectory reaches the end point, the second motion trajectory is used as the ship motion planning path.

[0018] A ship motion planning method according to an embodiment of the present invention realizes the combination of navigation planning and motion planning by planning a navigation path and a first motion trajectory, takes into account both global planning and local planning, and improves the rationality and reliability of ship motion planning; by planning a first motion trajectory that takes into account a ship motion model, and generating a second motion path according to map information and the first motion trajectory to obtain the final ship motion planning path, path planning that takes into account the ship motion characteristics is realized, so that the ship motion planning is more adaptable to complex real-life scenarios, and the rationality and reliability of the ship motion planning are further improved.

[0019] In addition, a ship motion planning method according to the above embodiment of the present invention may also have the following additional technical features:

[0020] Furthermore, in a ship motion planning method according to an embodiment of the present invention, the selecting of a plurality of waypoints on the navigation path comprises:

[0021] The waypoints are selected on the navigation path based on a fixed distance or a fixed latitude difference.

[0022] Furthermore, in one embodiment of the present invention, the target area is an area where the waypoint closest to the ship's position is located between the ship's position and the destination.

[0023] Further, in one embodiment of the present invention, the ship motion model is used to obtain the initial state of the ship and the dynamic response under control;

[0024] The performing motion planning according to the target area and the ship motion model to generate a first motion trajectory includes:

[0025] Sampling is performed according to the ship motion model to generate control samples;

[0026] The first motion trajectory is generated according to the ship motion model and the control sample.

[0027] Furthermore, in one embodiment of the present invention, generating the first motion trajectory according to the ship motion model and the control sample includes:

[0028] Set the current state of the ship to the initial state;

[0029] Acquire the corresponding dynamic response according to the control sample;

[0030] generating a third motion trajectory according to the initial state and the dynamic response;

[0031] confirming that the third motion trajectory does not enter the target area, taking the ship state at one end of the third motion path away from the ship position as the initial state, and then returning to the step of generating the third motion trajectory according to the initial state and the dynamic response until the third motion trajectory enters the target area;

[0032] If it is confirmed that the third motion trajectory enters the target area, the trajectory of the third motion trajectory that enters the target area is used as the first motion trajectory.

[0033] Further, in one embodiment of the present invention, generating the second motion trajectory according to the map information and the first motion trajectory includes:

[0034] Performing collision detection on the first motion trajectory according to the map information to determine whether there is a feasible trajectory, wherein the feasible trajectory is a trajectory without collision;

[0035] If yes, then calculate the cost function of the feasible trajectory to obtain the trajectory cost;

[0036] The path with the minimum trajectory cost among the feasible trajectories is taken as the second motion trajectory.

[0037] Further, in one embodiment of the present invention, if yes, then the cost function of the feasible trajectory is calculated to obtain the trajectory cost, including:

[0038] Obtaining the trajectory time of the feasible trajectory and the corresponding acceleration and angular acceleration of the ship at each moment;

[0039] Generate a first cost according to the time consumption of the trajectory;

[0040] generating a second cost according to the acceleration and the angular acceleration;

[0041] The trajectory cost is generated according to the first cost and the second cost.

[0042] In a second aspect, an embodiment of the present invention provides a ship motion planning system, including:

[0043] A map information acquisition module, used to acquire map information;

[0044] A navigation path generation module, used to perform navigation planning according to the map information and generate a navigation path;

[0045] A waypoint selection module, used to select a number of waypoints on the navigation path;

[0046] A target area generating module, used for generating a target area according to the ship position and the waypoint;

[0047] A first motion trajectory generating module, used for performing motion planning according to the target area and the ship motion model to generate a first motion trajectory;

[0048] A second motion trajectory generating module, configured to generate a second motion trajectory according to the map information and the first motion trajectory;

[0049] a loop judgment module, configured to confirm that the second motion trajectory has not reached the end point, take the end of the second motion path close to the end point as the ship position, and then return to the step of generating a target area according to the ship position and the waypoints until the second motion path reaches the end point;

[0050] The ship motion planning path determination module is used to confirm that the second motion trajectory reaches the end point, and then use the second motion trajectory as the ship motion planning path.

[0051] In a third aspect, an embodiment of the present invention provides a ship motion planning device, comprising:

[0052] at least one processor;

[0053] at least one memory for storing at least one program;

[0054] When the at least one program is executed by the at least one processor, the at least one processor implements the ship motion planning method.

[0055] In a fourth aspect, an embodiment of the present invention provides a storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed, it is used to implement the ship motion planning method described above.

[0056] The advantages and beneficial effects of the present invention will be partially given in the following description, and partially become apparent from the following description, or be understood through the practice of the present application:

[0057] The embodiment of the present invention realizes the combination of navigation planning and motion planning by planning the navigation path and the first motion trajectory, takes into account both global planning and local planning, and improves the rationality and reliability of ship motion planning; by planning the first motion trajectory considering the ship motion model, and generating the second motion path according to the map information and the first motion trajectory to obtain the final ship motion planning path, the path planning considering the ship motion characteristics is realized, so that the ship motion planning is more adaptable to complex real-life scenarios, and the rationality and reliability of the ship motion planning are further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following introduction is made to the drawings of the embodiments of the present application or the related technical solutions in the prior art. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present application. For technical personnel in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 A schematic diagram of a flow chart of a specific embodiment of a ship motion planning method of the present invention;

[0060] Figure 2 A schematic diagram of a trajectory of a specific embodiment of a ship motion planning method of the present invention;

[0061] Figure 3 It is a structural schematic diagram of a specific embodiment of a ship motion planning system of the present invention;

[0062] Figure 4 The figure is a schematic structural diagram of a specific embodiment of a ship motion planning device of the present invention. DETAILED DESCRIPTION

[0063] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limitations on the present application. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0064] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present invention and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0065] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0066] In recent years, with the rapid development of technologies such as artificial intelligence, the Internet, big data, and the Internet of Things, smart ships have become one of the hot research topics in the shipbuilding and navigation fields.

[0067] As an important functional module of the ship-side system of intelligent ships, decision planning is one of the most challenging problems in the field of intelligent ships and an important factor restricting the intelligent ships from moving to a new level. Decision planning is the basis for ensuring the safe and efficient navigation of intelligent ships. Its main task is to calculate the safe and efficient motion trajectory from the starting point to the target point in the environment where the ship is located.

[0068] At present, most ship decision-making planning methods focus on path planning problems. Such methods usually generate pure geometric paths without considering the ship's own maneuvering characteristics. However, in complex real-world water scenes, such paths are difficult for ships to follow and may even cause the ship to collide with obstacles or surrounding ships.

[0069] To this end, the present invention proposes a ship motion planning method and system. Different from the traditional ship motion planning method which does not consider the ship motion characteristics and has low safety, the present invention realizes the combination of navigation planning and motion planning by planning the navigation path and the first motion trajectory, takes into account both global planning and local planning, and improves the rationality and reliability of ship motion planning; by planning the first motion trajectory considering the ship motion model, and generating the second motion path according to the map information and the first motion trajectory to obtain the final ship motion planning path, the path planning considering the ship motion characteristics is realized, so that the ship motion planning is more adaptable to complex real-life scenarios, and the rationality and reliability of the ship motion planning are further improved.

[0070] A ship motion planning method and system according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, a ship motion planning method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0071] Reference Figure 1 In an embodiment of the present invention, a ship motion planning method is provided. A ship motion planning method in an embodiment of the present invention can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDNs), and big data and artificial intelligence platforms. A ship motion planning method in an embodiment of the present invention mainly includes the following steps:

[0072] S101, obtaining map information;

[0073] Specifically, in an embodiment of the present invention, the map information is obtained by the ship's own sensors and global positioning system.

[0074] S102, performing navigation planning according to the map information to generate a navigation path;

[0075] The navigation path is the path of the ship from the starting point to the end point.

[0076] Specifically, refer to Figure 2 , perform global navigation planning according to the map information, and obtain a navigation path from the starting point to the end point of the ship. The navigation path does not intersect with static obstacles (such as reefs, shoals, navigation marks and land) in the map information, and maintains a safe distance from static obstacles. In one embodiment of the present invention, any one of the potential field method, A* algorithm, RRT algorithm and traditional route planning method is used for navigation planning.

[0077] S103, selecting a number of waypoints on the navigation path;

[0078] Specifically, refer to Figure 2 , select a number of ordered waypoints [WP1, WP2, …, WP n ], WP i =(x wpi ,y wpi), i = 1, 2, ..., n. In an embodiment of the present invention, the waypoints are selected on the navigation path based on a fixed distance or a fixed latitude difference.

[0079] In one embodiment of the present invention, a receiving domain is arranged around each waypoint, and when a ship reaches the receiving domain of the waypoint, it can be considered that the ship has arrived at the corresponding waypoint. The receiving domain is a circular area with the waypoint as the center and the length of the ship as the radius.

[0080] S104, generating a target area according to the ship position and the waypoints;

[0081] Wherein, in an embodiment of the present invention, the target area is an area where the waypoint closest to the ship's position is located between the ship's position and the destination.

[0082] Specifically, according to the ordered waypoints and receiving domains in step S103, according to the position of the ship, the receiving domain of the next waypoint of the ship's heading destination is used as the target area.

[0083] S105, performing motion planning according to the target area and the ship motion model to generate a first motion trajectory;

[0084] The ship motion model is used to obtain the initial state of the ship and the dynamic response under control.

[0085] Specifically, the ship motion model is established, and the ship motion planning is performed according to the ship motion model and the target area set in step S104 to generate the first motion trajectory.

[0086] Reference Figure 2 , S105 can be further divided into the following steps S1051-S1052:

[0087] Step S1051, sampling according to the ship motion model to generate control samples;

[0088] Specifically, in one embodiment of the present invention, the control input of the ship motion model is described as a vector of the ship's maneuvering state. The control input is composed of the rudder angle δ and the propeller speed n. The control vector u=[δ,n] T , where the range of the rudder angle δ is δ∈[δ min ,δ max ], the propeller speed n ranges from n∈[n min ,n max ].

[0089] In one embodiment of the present invention, uniform sampling is used for sampling, that is, uniform sampling is performed at a certain interval within the threshold of each element of the control vector u. The rudder angle δ is sampled at intervals of Δδ to obtain p rudder angle samples; the propeller speed n is sampled at intervals of Δn to obtain q propeller speed samples. Then, the rudder angle samples and the propeller speed samples are combined to obtain m=p×q control samples.

[0090] Step S1052: Generate the first motion trajectory according to the ship motion model and the control sample.

[0091] Specifically, the motion trajectory of the ship is generated according to the ship motion model and the control samples generated by sampling in step S1052, and finally the first motion trajectory is obtained.

[0092] (1) Setting the current state of the ship to the initial state;

[0093] (2) obtaining the corresponding dynamic response according to the control sample;

[0094] Specifically, according to the m=p×q control samples generated in step S1052, the corresponding dynamic responses of the m ships are obtained.

[0095] (3) generating a third motion trajectory according to the initial state and the dynamic response;

[0096] Specifically, according to the initial state and the dynamic responses of the m ships, m ship motion trajectories, i.e., the third motion trajectories, are generated by calculating the ship motion model. The third motion trajectory describes in detail the motion trajectory of the ship within a period of time, including the position, attitude, speed, and acceleration information of the ship.

[0097] (4) confirming that the third motion trajectory does not enter the target area, taking the ship state at one end of the third motion path away from the ship position as the initial state, and then returning to step (3) of generating the third motion trajectory according to the initial state and the dynamic response until the third motion trajectory enters the target area;

[0098] Specifically, it is detected whether there is a track in the third motion trajectory entering the target area. If not, at the end of the third motion path away from the position of the ship, the corresponding m is obtained according to the control sample. 2 The dynamic response of a ship is calculated and generated by the ship motion model. 2 The third motion trajectory is obtained by connecting the m ship motion trajectories generated in the previous cycle to the m ship motion trajectories until the third motion trajectory enters the target area.

[0099] (5) If it is confirmed that the third motion trajectory enters the target area, the trajectory of the third motion trajectory that enters the target area is used as the first motion trajectory.

[0100] S106, generating a second motion trajectory according to the map information and the first motion trajectory;

[0101] The second motion path is an optimal path that will not cause collision.

[0102] Reference Figure 2 , S106 can be further divided into the following steps S1061-S1063:

[0103] Step S1061: perform collision detection on the first motion trajectory according to the map information to determine whether there is a feasible trajectory;

[0104] The feasible trajectory is a trajectory that will not cause collision.

[0105] Specifically, collision detection is performed on the first motion trajectory according to the map information, and trajectories in the first motion trajectory that collide with obstacles and other ships in the map information are detected and eliminated to generate the feasible trajectory. It is understandable that if no trajectory exists after eliminating the trajectories in the first motion trajectory that collide with obstacles and other ships in the map information, that is, there is no feasible trajectory, it is necessary to return to step S103 to reset the standard and select the waypoint, and re-execute the subsequent steps until a feasible trajectory is obtained.

[0106] Step S1062: If yes, calculate the cost function of the feasible trajectory to obtain the trajectory cost;

[0107] Specifically:

[0108] (1) Obtaining the trajectory time of the feasible trajectory and the corresponding acceleration and angular acceleration of the ship at each moment;

[0109] (2) generating a first cost according to the time consumption of the trajectory;

[0110] The first price:

[0111] C1=t f -t0

[0112] Among them, t f is the end time of the feasible trajectory, and t0 is the start time of the feasible trajectory. The first cost C1 considers the trajectory time of the feasible trajectory. The longer the trajectory time is, the greater the value of the first cost C1 is.

[0113] (3) generating a second cost according to the acceleration and the angular acceleration;

[0114] The second price:

[0115]

[0116] Wherein, a(t) is the acceleration at time t on the feasible trajectory, and r(t) is the angular acceleration at time t on the feasible trajectory. The second cost C2 considers the stability of the feasible trajectory. The larger the value of the second cost C2, the more stable the feasible trajectory of the ship.

[0117] (4) Generate the trajectory cost according to the first cost and the second cost.

[0118] Track cost:

[0119] C3=λ1C1+λ2C2

[0120] Among them, λ1 and λ2 are weighted coefficients, and the trajectory cost C3 is the weighted sum of the first cost C1 and the second cost C2, which comprehensively considers the trajectory time consumption and stability of the feasible trajectory.

[0121] Step S1063: taking the path with the minimum trajectory cost among the feasible trajectories as the second motion trajectory.

[0122] Specifically, the path where the minimum value of the trajectory cost C3 in step S1062 is located is taken as the second motion trajectory.

[0123] S107, confirming that the second motion trajectory has not reached the end point, taking the end of the second motion path close to the end point as the ship position, and then returning to the step of generating a target area according to the ship position and the waypoints until the second motion path reaches the end point;

[0124] Specifically, confirm that the second motion trajectory has not reached the end point, take the end of the second motion path close to the end point as the ship position, then return to step S104 to determine the new target area, and repeat steps S104-S107 until the second motion path reaches the end point.

[0125] S108: Confirm that the second motion trajectory reaches the end point, and then use the second motion trajectory as the ship motion planning path.

[0126] Specifically, it is confirmed that the second motion trajectory reaches the end point, then the second motion trajectory is used as the ship motion planning path, and the ship sails according to the motion planning path. The motion planning path is as follows: Figure 2 As shown by the dotted line in .

[0127] Secondly, a ship motion planning system proposed according to an embodiment of the present application is described with reference to the accompanying drawings.

[0128] Figure 3 It is a schematic diagram of the structure of a ship motion planning system according to an embodiment of the present application.

[0129] The system specifically comprises:

[0130] A map information acquisition module 301 is used to acquire map information;

[0131] A navigation path generation module 302 is used to perform navigation planning according to the map information and generate a navigation path;

[0132] A waypoint selection module 303 is used to select a number of waypoints on the navigation path;

[0133] A target area generating module 304, for generating a target area according to the ship position and the waypoint;

[0134] A first motion trajectory generating module 305, configured to perform motion planning according to the target area and the ship motion model to generate a first motion trajectory;

[0135] A second motion trajectory generating module 306, configured to generate a second motion trajectory according to the map information and the first motion trajectory;

[0136] A loop judgment module 307 is used to confirm that the second motion path has not reached the end point, take the end of the second motion path close to the end point as the ship position, and then return to the step of generating a target area according to the ship position and the waypoints until the second motion path reaches the end point;

[0137] The ship motion planning path determination module 308 is used to confirm that the second motion trajectory reaches the end point, and then use the second motion trajectory as the ship motion planning path.

[0138] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0139] Reference Figure 4 , the embodiment of the present application provides a ship motion planning device, comprising:

[0140] at least one processor 401;

[0141] At least one memory 402, used to store at least one program;

[0142] When the at least one program is executed by the at least one processor 401, the at least one processor 401 implements the ship motion planning method.

[0143] Similarly, the contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0144] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0145] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional techniques of the engineer. Therefore, those skilled in the art can implement the present application set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0146] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0147] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution systems, devices or apparatuses.

[0148] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0149] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0150] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0151] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0152] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the described embodiments. Technical personnel familiar with the field may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A ship motion planning method, It is characterized in that The following steps are involved: Get map information; Perform navigation planning according to the map information to generate a navigation path, where the navigation path is the path of the ship from the starting point to the end point; Selecting a number of waypoints on the navigation path; generating a target area based on the vessel position and the waypoints; Performing motion planning according to the target area and the ship motion model to generate a first motion trajectory; generating a second motion trajectory according to the map information and the first motion trajectory, wherein the second motion trajectory is an optimal path without collision; confirming that the second motion trajectory has not reached the end point, taking the end of the second motion trajectory close to the end point as the ship position, and then returning to the step of generating the target area according to the ship position and the waypoints until the second motion trajectory reaches the end point; Confirming that the second motion trajectory reaches the end point, using the second motion trajectory as the ship motion planning path; The ship motion model is used to obtain the initial state of the ship and the dynamic response under control; The performing motion planning according to the target area and the ship motion model to generate a first motion trajectory includes: Sampling is performed according to the ship motion model to generate control samples; generating the first motion trajectory according to the ship motion model and the control sample; The generating the first motion trajectory according to the ship motion model and the control sample comprises: Set the current state of the ship to the initial state; Acquire the corresponding dynamic response according to the control sample; generating a third motion trajectory according to the initial state and the dynamic response; confirming that the third motion trajectory does not enter the target area, taking the ship state at one end of the third motion trajectory away from the ship position as the initial state, and then returning to the step of generating the third motion trajectory according to the initial state and the dynamic response until the third motion trajectory enters the target area; If it is confirmed that the third motion trajectory enters the target area, the trajectory of the third motion trajectory that enters the target area is used as the first motion trajectory.

2. A ship motion planning method according to claim 1, It is characterized in that The selecting of a plurality of waypoints on the navigation path comprises: The waypoints are selected on the navigation path based on a fixed distance or a fixed latitude difference.

3. A ship motion planning method according to claim 1, It is characterized in that The target area is an area where the waypoint closest to the ship's position is located between the ship's position and the destination.

4. A ship motion planning method according to claim 1, It is characterized in that The generating a second motion trajectory according to the map information and the first motion trajectory includes: Performing collision detection on the first motion trajectory according to the map information to determine whether there is a feasible trajectory, wherein the feasible trajectory is a trajectory without collision; If yes, then calculate the cost function of the feasible trajectory to obtain the trajectory cost; The path with the minimum trajectory cost among the feasible trajectories is taken as the second motion trajectory.

5. A ship motion planning method according to claim 4, It is characterized in that If so, the cost function of the feasible trajectory is calculated to obtain the trajectory cost, including: Obtaining the trajectory time of the feasible trajectory and the corresponding acceleration and angular acceleration of the ship at each moment; Generate a first cost according to the time consumption of the trajectory; generating a second cost according to the acceleration and the angular acceleration; The trajectory cost is generated according to the first cost and the second cost.

6. A ship motion planning system, It is characterized in that include: A map information acquisition module, used to acquire map information; A navigation path generation module, used to perform navigation planning according to the map information and generate a navigation path; The navigation path is the path of the ship from the starting point to the end point; A waypoint selection module, used to select a number of waypoints on the navigation path; A target area generating module, used for generating a target area according to the ship position and the waypoint; A first motion trajectory generating module, used for performing motion planning according to the target area and the ship motion model to generate a first motion trajectory; A second motion trajectory generating module, configured to generate a second motion trajectory according to the map information and the first motion trajectory; the second motion trajectory is an optimal path without collision; a loop judgment module, configured to confirm that the second motion trajectory has not reached the end point, take the end of the second motion trajectory close to the end point as the ship position, and then return to the step of generating a target area according to the ship position and the waypoints until the second motion trajectory reaches the end point; A ship motion planning path determination module, used to confirm that the second motion trajectory reaches the end point, and then use the second motion trajectory as the ship motion planning path; The ship motion model is used to obtain the initial state of the ship and the dynamic response under control; The performing motion planning according to the target area and the ship motion model to generate a first motion trajectory includes: Sampling is performed according to the ship motion model to generate control samples; generating the first motion trajectory according to the ship motion model and the control sample; The generating the first motion trajectory according to the ship motion model and the control sample comprises: Set the current state of the ship to the initial state; Acquire the corresponding dynamic response according to the control sample; generating a third motion trajectory according to the initial state and the dynamic response; confirming that the third motion trajectory does not enter the target area, taking the ship state at one end of the third motion trajectory away from the ship position as the initial state, and then returning to the step of generating the third motion trajectory according to the initial state and the dynamic response until the third motion trajectory enters the target area; If it is confirmed that the third motion trajectory enters the target area, the trajectory of the third motion trajectory that enters the target area is used as the first motion trajectory.

7. A ship motion planning device, It is characterized in that include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a ship motion planning method as described in any one of claims 1-5.

8. A storage medium storing a program executable by a processor, Features: The processor-executable program is used to implement a ship motion planning method as described in any one of claims 1-5 when executed by the processor.

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