Obstacle avoidance method and device for double-unmanned-ship cooperative system, equipment and storage medium

Abstract

The invention discloses an obstacle avoidance method and device for a double-unmanned-ship cooperative system, electronic equipment and a storage medium. The method comprises the following steps: acquiring position, speed and heading information of two unmanned ships in a double-unmanned ship cooperative system; determining position information of a virtual navigator of the double-unmanned-ship cooperative system; according to the position of the virtual navigator, the position of the obstacle and the position of the target point, the advancing direction of the double-unmanned-ship cooperative system is determined; setting an avoidance radius of an obstacle in the marine environment; and when the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, setting an avoidance reference position, and compensating the advancing direction of the double-unmanned-ship cooperative system according to the target point position, the avoidance reference position and the relative angle between the virtual navigator. According to the invention, the problem that the double-unmanned-ship cooperative system is difficult to track and plan the path due to the fact that the path curvature is too large in the obstacle avoidance process of the flexibly-connected double-unmanned-ship cooperative system is solved.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous obstacle avoidance of multiple unmanned boats, and in particular to an artificial potential field local obstacle avoidance method and device, electronic equipment, and storage medium for a flexible connected dual unmanned boat cooperative system for target capture. Background Art

[0002] At present, unmanned surface vehicles (USVs) have broad application prospects as marine equipment capable of monitoring the marine environment, deploying marine facilities and performing strike missions. The operational efficiency advantages of the flexible connection dual unmanned boat collaborative system in the fields of marine oil spill emergency disposal, offshore platform dismantling, surface target cleaning, etc. are gradually emerging. Therefore, in-depth research on the flexible connection dual unmanned boat collaborative system technology is of great significance to enhancing my country's national defense strength and broadening civilian use scenarios.

[0003] The local obstacle avoidance method is one of the core technologies of unmanned boats. Good local obstacle avoidance capability can ensure that unmanned boats can complete their tasks efficiently and safely. The local obstacle avoidance method of the flexible connection dual unmanned boat cooperative system needs to consider the strong constraints of time and space. When the dual unmanned boat cooperative system turns, it will be disturbed by the flexible connection. If the curvature of the navigation path is too large, the path difference and speed difference between the inner and outer dual unmanned boats will be too large when turning. The formation of the dual unmanned boat cooperative system is difficult to maintain, so the curvature of the navigation path needs to be considered.

[0004] The existing technology sets the center point of the dual unmanned boat cooperative system as the virtual navigator, and regards the virtual navigator as a particle to perform path planning using the artificial potential field method. However, the dual unmanned boat cooperative system for target capture is often a dual unmanned boat system with flexible connections. When sailing on the water surface, it will be interfered by the flexible connection, making it difficult to achieve the maneuvering effect of a single unmanned boat. The path obtained by the conventional path planning method is difficult for the dual unmanned boat cooperative system to track.

[0005] The existing unmanned boat formation obstacle avoidance method no longer maintains the original formation when avoiding obstacles, but all unmanned boats form a formation again after avoiding obstacles, which cannot meet the needs under strong formation constraints. Or it does not consider the problem that the flexible connection dual unmanned boat cooperative system may have difficulty maintaining the formation when turning, and the planned path curvature is too large to meet actual needs. Summary of the invention

[0006] In view of this, the embodiments of the present application provide an obstacle avoidance device, electronic equipment, and storage medium for a dual unmanned boat collaborative system, which can at least solve the aforementioned technical problems.

[0007] According to a first aspect of an embodiment of the present application, a dual unmanned boat cooperative system obstacle avoidance method is provided, comprising: Obtain the position, speed and heading information of the two unmanned boats in the dual unmanned boat cooperative system; Determine the position information of the virtual navigator of the dual unmanned boat cooperative system; According to the position of the virtual navigator, the position of the obstacle, and the position of the target point, the forward direction of the dual unmanned boat cooperative system is determined; Set the obstacle avoidance radius in the marine environment; When the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, the avoidance reference position is set, and the forward direction of the dual unmanned boat collaborative system is compensated according to the relative angle between the target point position, the avoidance reference position and the virtual navigator.

[0008] In some exemplary embodiments, determining the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point includes: Set the radius of influence of obstacles on the virtual navigator to generate virtual repulsion; According to the position of the virtual navigator, the position of the obstacle, the position of the target point and the influence radius, determining the direction of the virtual potential field force of the obstacle and the target point on the virtual navigator in the ocean environment; The direction of the virtual potential field force is set as the forward direction of the dual unmanned boat cooperative system.

[0009] In some exemplary embodiments, the method further includes: setting a safety compensation distance, the sum of the safety compensation distance and the obstacle radius being the equivalent radius of the obstacle.

[0010] In some exemplary embodiments, when the virtual navigator enters the avoidance radius of the obstacle, the method further includes: determining whether the virtual navigator needs to avoid the obstacle in advance, including: When the distance between the virtual navigator and the line connecting the target point and the obstacle is less than the equivalent radius of the obstacle, it is determined that the virtual navigator needs to avoid the obstacle in advance.

[0011] In some exemplary embodiments, setting the avoidance reference position includes: setting the avoidance reference position according to the position of the obstacle, the radius of the obstacle, the safety compensation distance, the influence radius and the position of the target point.

[0012] In some exemplary embodiments, compensating the forward direction of the dual unmanned boat cooperative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator includes: Determine the compensation period for forward direction compensation according to the avoidance radius influence radius and the time step; According to the position of the target point, the position of the virtual navigator, the avoidance reference position and the compensation period, the compensation angle of the forward direction of the dual unmanned boat cooperative system in each period is determined.

[0013] In some exemplary embodiments, the method further includes: when the angle between the improved speed direction of the dual unmanned boat cooperative system and the initial forward direction without direction compensation exceeds a preset angle, negative compensation is performed on the forward direction of the dual unmanned boat cooperative system.

[0014] According to a second aspect of an embodiment of the present application, there is provided an obstacle avoidance device for a dual unmanned boat cooperative system, the device comprising: An information acquisition unit, used to obtain the position, speed and heading information of two unmanned boats in the dual unmanned boat cooperative system; A position determination unit, used to determine the position information of the virtual navigator of the dual unmanned boat cooperative system; A forward direction determination unit, used to determine the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point; A setting unit, used to set the avoidance radius of obstacles in the marine environment; The forward direction compensation unit is used to set the avoidance reference position when the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, and compensate the forward direction of the dual unmanned boat collaborative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a processor and a memory for storing processor executable instructions, wherein the processor is configured to execute the steps of the above-mentioned dual unmanned boat collaborative system obstacle avoidance method when calling the executable instructions in the memory.

[0016] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned obstacle avoidance method of the dual unmanned boat collaborative system are implemented.

[0017] In the embodiment of the present application, the poor maneuverability of the dual unmanned boat system is taken into account, and obstacles are avoided in advance within the influence range of the obstacles, and the maximum curvature in the planned path is reduced, so as to solve the problem that the dual unmanned boat system with flexible connection has excessive curvature in the process of avoiding obstacles using the artificial potential field method, which makes it difficult for the dual unmanned boat system to track the planned path. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the process flow of the obstacle avoidance method of the dual unmanned boat cooperative system according to an embodiment of the present application is shown; Figure 2 A schematic diagram of virtual navigator position information in an embodiment of the present application is shown; Figure 3 A schematic diagram of obstacle information in an embodiment of the present application is shown; Figure 4 A schematic diagram of an artificial potential field in an embodiment of the present application is shown; Figure 5 A schematic diagram of a turning route of a flexible connection dual unmanned boat cooperative system according to an embodiment of the present application is shown; Figure 6 A schematic diagram of an improved artificial potential field strategy according to an embodiment of the present application is shown; Figure 7 A schematic diagram of a virtual navigator's path after positive compensation and negative compensation in an embodiment of the present application is shown; Figure 8 A schematic diagram of the structure of an obstacle avoidance device for a dual unmanned boat cooperative system according to an embodiment of the present application is shown; Fig. 9 A schematic diagram of the structure of an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0021] The essence of the technical solution of the embodiment of the present application is explained in detail below with reference to the accompanying drawings.

[0022] Figure 1 FIG. 1 shows a schematic diagram of the obstacle avoidance method of the dual unmanned boat cooperative system according to an embodiment of the present application. Figure 1 As shown, the artificial potential field local obstacle avoidance method of the dual-boat cooperative system for target capture in the embodiment of the present application includes the following steps: Step 101: Obtaining the position, speed and heading information of two unmanned boats in the dual unmanned boat cooperative system; In an embodiment of the present application, the position, speed and heading information of the two unmanned boats in the dual unmanned boat cooperative system are obtained based on inertial navigation, Beidou and other sensor equipment.

[0023] Step 102: Determine the position information of the virtual navigator of the dual unmanned boat cooperative system; Figure 2 Schematic diagram of virtual navigator position information in an embodiment of the present application, such as Figure 2 As shown, in the embodiment of the present application, is the position of the target point, and the position center of the two unmanned boats is used as the virtual navigator. ,speed , heading :

[0024] in, is the location of the unmanned boat USV1, is the heading and speed of USV1 is the speed of USV1; The location of the unmanned boat USV2. is the heading of USV2, This is the USV2 speed.

[0025] Step 103: Determine the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point; In the embodiment of the present application, the determining of the advancing direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point includes: setting the influence radius of the obstacle on the virtual navigator to generate a virtual repulsive force ; According to the position of the virtual navigator, the position of the obstacle, the position of the target point and the influence radius , determine the direction of the virtual potential field force exerted on the virtual navigator by obstacles and target points in the ocean environment; and set the direction of the virtual potential field force as the forward direction of the dual unmanned boat collaborative system.

[0026] Figure 3 This is a schematic diagram of obstacle information in an embodiment of the present application. Range such as Figure 3 shown.

[0027] Figure 4 Schematic diagram of the artificial potential field of the embodiment of the present application, such as Figure 4 As shown in the figure, the virtual navigator is subject to the virtual potential field force F of obstacles and target points in the ocean environment. The direction of the virtual potential field force is the navigation direction of the virtual navigator. The specific calculation is as follows:

[0028]

[0029]

[0030]

[0031] in, is the attraction of the target point to the virtual navigator. is the gravitational gain constant, is the location of the target point, is the position of the virtual navigator, , are the repulsive forces exerted by the two obstacles on the virtual navigator. is the repulsion gain constant, is the distance between the virtual navigator and the obstacle, is the influence radius of the obstacle, The virtual potential field force exerted on the virtual navigator.

[0032] Step 104: Setting the obstacle avoidance radius in the ocean environment; If the distance between the virtual navigator and the obstacle and the target point is too close, the path curvature will be too large in the subsequent obstacle avoidance process, so the obstacle avoidance radius is set. , when the virtual navigator enters the avoidance radius The vehicle will start to compensate for the forward direction and avoid obstacles before reaching the obstacle's influence range. Avoidance radius like Figure 3 shown.

[0033] In the embodiment of the present application, when the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, the avoidance reference position is set, and the forward direction of the dual unmanned boat cooperative system is compensated according to the relative angle between the target point position, the avoidance reference position and the virtual navigator, which specifically includes the following steps: Step 105: Determine whether the virtual navigator enters the avoidance radius of the obstacle; when the navigator enters the avoidance radius of the obstacle, execute step 106; otherwise, execute step 110; Step 106: Determine whether the virtual navigator needs to avoid obstacles in advance; when the virtual navigator needs to avoid obstacles in advance, execute step 107; otherwise, execute step 110; In the embodiment of the present application, a safety compensation distance is set , like Figure 3 As shown, the safety compensation distance The sum of the radius R of the obstacle R+ In the embodiment of the present application, obstacle information in the marine environment is obtained according to environmental perception equipment such as navigation radar, so as to prepare for the realization of the subsequent obstacle avoidance function. Figure 5 This is a schematic diagram of a turning route for a flexible connected dual unmanned boat cooperative system according to an embodiment of the present application. Figure 5 As shown, since the local obstacle avoidance of the dual unmanned boat cooperative system in the dual unmanned boat cooperative system obstacle avoidance method described in the embodiment of the present application is performed based on the information of the virtual navigator, the navigation range of the virtual navigator and the dual unmanned boat cooperative system has a certain difference, so in order to enable the dual unmanned boats to safely avoid obstacles, a safety compensation distance is set , the safety compensation distance The sum of the radius of the obstacle and the obstacle radius R is the equivalent radius of the obstacle.

[0034] The determination of whether the virtual navigator needs to avoid obstacles in advance includes: when the distance between the virtual navigator and the line connecting the target point and the obstacle When it is smaller than the equivalent radius of the obstacle, it is determined that the virtual navigator needs to avoid the obstacle in advance.

[0035] In this step, when the virtual navigator enters the obstacle avoidance area, the distance from the virtual navigator to the target point and the obstacle is first calculated. , It is the basis for judging whether the virtual navigator needs to avoid obstacles in advance. If the value is too small, the virtual navigator will enter the influence range of the obstacle and the path produced by the obstacle avoidance will have too large curvature. The calculation formula is as follows:

[0036] in, is the location of the obstacle, is the location of the target point, It is the position of the virtual navigator when the virtual navigator enters the avoidance area.

[0037] In the embodiment of the present application, when the distance between the virtual navigator and the line connecting the target point and the obstacle is When it is smaller than the equivalent radius of the obstacle, When , it is determined that the virtual navigator needs to avoid obstacles in advance; specifically, the sum of the preset safety compensation distance and the obstacle radius is the lower limit of avoiding obstacles in advance, that is, When driving, the virtual navigator needs to avoid obstacles in advance.

[0038] Step 107: Setting an avoidance reference position; In the embodiment of the present application, the setting of the avoidance reference position includes: according to the position of the obstacle, the radius of the obstacle, the safety compensation distance , Influence Radius and the target point position, setting the avoidance reference position; Figure 6 Schematic diagram of the improved artificial potential field strategy of the embodiment of the present application, such as Figure 6 As shown, the virtual navigator's avoidance reference position , the determination process is as follows:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] in, is the radius of the obstacle, For virtual navigators and avoidance reference positions Angle, For virtual navigators and target points Angle, is the angle between the virtual navigator and the obstacle, The obstacle and the target point The angle of the line.

[0045] Step 108: Compensating the forward direction of the dual unmanned boat cooperative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator; In the embodiment of the present application, firstly according to the avoidance radius , influence radius , and the time step, determine the compensation cycle for the forward direction compensation ; Then, according to the position of the target point, the position of the virtual navigator, the avoidance reference position and the compensation period, the compensation angle of the forward direction of the dual unmanned boat cooperative system in each period is determined.

[0046] Specifically, when the virtual navigator needs to avoid obstacles in the avoidance area in advance, it is necessary to correct and compensate the direction of the virtual navigator determined in step 103. In order to avoid excessive curvature of the path of the virtual navigator, the embodiment of the present application Correct the direction of the virtual navigator within a cycle, specifically:

[0047]

[0048] in, is the time step, For the next The compensation angle in each cycle is is a preset parameter. In the embodiment of the present application, Usually less than 1.

[0049] Step 109: When the angle between the improved speed direction of the dual unmanned boat cooperative system and the initial forward direction without direction compensation exceeds a preset angle, negative compensation is performed on the forward direction of the dual unmanned boat cooperative system. In the embodiment of the present application, the initial forward direction without direction compensation is the forward direction determined in step 103, and the preset angle is 45°.

[0050] In order to avoid a large angle deviation in the speed direction of the virtual navigator after leaving the influence range of the obstacle, it is necessary to make negative compensation for the forward direction of the virtual navigator so that the dual unmanned boat collaborative system can continue to move towards the capture area where the target point is located.

[0051] Figure 7 Schematic diagram of the virtual navigator path after positive compensation and negative compensation in the embodiment of the present application. Figure 7 As shown, in the embodiment of the present application, in order to make the two arc paths generated by the virtual navigator in the positive compensation and the negative compensation tangent to each other and the navigation path during obstacle avoidance to be smoother, it is necessary to compensate the forward direction of the virtual navigator in multiple cycles. In the embodiment of the present application, the critical point during positive compensation and negative compensation is the point when the angle between the improved speed direction of the dual unmanned boat cooperative system and the initial forward direction without direction compensation exceeds 45°; specifically:

[0052] Where j is the current compensation cycle number, is the direction of the virtual navigator in the jth period, For the The direction of the virtual navigator in the cycle, cycle is the critical point between positive compensation and negative compensation, and n is the number of compensation cycles.

[0053] Step 110: Continue moving forward in the direction determined in step 103.

[0054] Step 111: Determine whether the dual unmanned boat cooperative system has reached the capture area where the target point is located; when the dual unmanned boat cooperative system has reached the capture area where the target point is located, execute step 112; otherwise, return to step 101; In an embodiment of the present application, after avoiding the current obstacle, the dual unmanned boat collaborative system advances to the next position, updates the current position of the virtual navigator, and determines whether the updated virtual navigator position reaches the capture area where the target point is located, and meets the task completion requirements; if the task completion requirements are met, execute step 112 to end the task; otherwise, return to step 101 and continue to obtain the marine environment information of the navigation area.

[0055] Step 112: The target capture mission is completed.

[0056] The obstacle avoidance method of the dual unmanned boat cooperative system described in the embodiment of the present application aims at the problem that the curvature path of the dual unmanned boats is too large when turning under spatial constraints, and proposes an improved artificial potential field method for large curvature paths, so that the planned path is smoother. Specifically, based on the artificial potential field method, the embodiment of the present application uses the center of the dual unmanned boats as a virtual navigator, and judges whether to optimize and compensate the turning path according to the current situation: setting the avoidance radius, first judging whether the virtual navigator enters the avoidance radius, and further judging whether the distance between the obstacle and the target point is too small. When the virtual navigator enters the avoidance radius and the distance between the obstacle and the target point is too small, the avoidance reference position is set, and the angle compensation is performed on the direction of the resultant force of the potential field force. In order to make the path smooth, a positive compensation and negative compensation mechanism is proposed, which ultimately ensures that the flexible connection dual unmanned boat cooperative system can safely and smoothly avoid local obstacles when performing target capture tasks.

[0057] The embodiment of the present application also provides an obstacle avoidance device for a dual unmanned boat cooperative system, Figure 8 Schematic diagram of the structure of the obstacle avoidance device of the dual unmanned boat cooperative system of the embodiment of the present application. Figure 8 As shown, the device comprises: An information acquisition unit 91 is used to acquire the position, speed and heading information of two unmanned boats in the dual unmanned boat cooperative system; A position determination unit 92, used to determine the position information of the virtual navigator of the dual unmanned boat cooperative system; A forward direction determination unit 93, used to determine the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point; A setting unit 94 is used to set an avoidance radius of obstacles in the marine environment; The forward direction compensation unit 95 is used to set the avoidance reference position when the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, and compensate the forward direction of the dual unmanned boat cooperative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator.

[0058] In an exemplary embodiment, the information acquisition unit 91, the position determination unit 92, the forward direction determination unit 93, the setting unit 94, the forward direction compensation unit 95, etc. can be implemented by one or more central processing units (CPU, Central Processing Unit), graphics processing units (GPU, Graphics Processing Unit), application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic devices (PLD, Programmable Logic Device), complex programmable logic devices (CPLD, Complex Programmable Logic Device), field programmable gate arrays (FPGA, Field-Programmable Gate Array), general processors, controllers, microcontrollers (MCU, Micro Controller Unit), microprocessors (Microprocessors), or other electronic components.

[0059] In the embodiments of the present application, Figure 8 The specific manner in which each unit in the obstacle avoidance device of the dual unmanned boat cooperative system performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0060] An embodiment of the present application also provides an electronic device, including a processor and a memory for storing processor executable instructions, characterized in that the processor is configured to execute the steps of the above-mentioned dual unmanned boat collaborative system obstacle avoidance method when calling the executable instructions in the memory.

[0061] Fig. 9 Schematic diagram of the structure of the electronic device according to the embodiment of the present application. Fig. 9 As shown, the electronic device 800 supports multi-screen output, and the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0062] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0063] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0064] The power component 806 provides power to the various components of the electronic device 800. The power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0065] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0066] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0067] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0068] The sensor assembly 814 includes one or more sensors for providing various aspects of status assessment for the electronic device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the electronic device 800, and the sensor assembly 814 can also detect the position change of the electronic device 800 or a component of the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and the temperature change of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0069] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as Wi-Fi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0070] In an exemplary embodiment, the electronic device 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the steps of the dual unmanned boat collaborative system obstacle avoidance method of the above-mentioned embodiment.

[0071] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the above instructions can be executed by the processor 820 of the electronic device 800 to complete the steps of the obstacle avoidance method of the dual unmanned boat cooperative system of the above embodiment. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0072] An embodiment of the present application also records a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the obstacle avoidance method of the dual unmanned boat cooperative system of the embodiment are implemented.

[0073] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the size of the sequence number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0074] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or do not exist.

[0076] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0077] The above is only an embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual unmanned boat cooperative system obstacle avoidance method, characterized in that: The method comprises: Obtain the position, speed and heading information of the two unmanned boats in the dual unmanned boat cooperative system; Determine the position information of the virtual navigator of the dual unmanned boat cooperative system; wherein the position center of the dual unmanned boats is used as the virtual navigator, and the position of the virtual navigator ,speed , heading The relationship is as follows: in, is the location of the unmanned boat USV1, is the heading and speed of USV1 is the speed of USV1; The location of the unmanned boat USV2. is the heading of USV2, is the speed of USV2; According to the position of the virtual navigator, the position of the obstacle, and the position of the target point, the forward direction of the dual unmanned boat cooperative system is determined; the virtual navigator is subject to the virtual potential field force F of the obstacle and the target point in the marine environment, and the direction of the virtual potential field force is the navigation direction of the virtual navigator, which is specifically calculated as follows: in, is the attraction of the target point to the virtual navigator. is the gravitational gain constant, is the location of the target point, is the position of the virtual navigator, , are the repulsive forces exerted by the two obstacles on the virtual navigator. is the repulsion gain constant, is the distance between the virtual navigator and the obstacle, is the influence radius of the obstacle, Virtual potential force on the virtual navigator; virtual navigator's avoidance reference position , the determination process is as follows: in, is the radius of the obstacle, For virtual navigator and avoidance reference position Angle, For virtual navigators and target points Angle, is the angle between the virtual navigator and the obstacle, The obstacle and the target point The angle of the connecting line; Set the obstacle avoidance radius in the marine environment; When the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, the avoidance reference position is set, and the forward direction of the dual unmanned boat cooperative system is compensated according to the relative angle between the target point position, the avoidance reference position and the virtual navigator; specifically, the distance from the virtual navigator to the line connecting the target point and the obstacle is first calculated. , It is the basis for judging whether the virtual navigator needs to avoid obstacles in advance; The calculation formula is as follows: in, is the location of the obstacle, is the location of the target point, It is the position of the virtual navigator when the virtual navigator enters the avoidance area.

2. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 1, characterized in that: Determining the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point includes: Set the radius of influence of obstacles on the virtual navigator to generate virtual repulsion; According to the position of the virtual navigator, the position of the obstacle, the position of the target point and the influence radius, determining the direction of the virtual potential field force of the obstacle and the target point on the virtual navigator in the ocean environment; The direction of the virtual potential field force is set as the forward direction of the dual unmanned boat cooperative system.

3. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 1, characterized in that: The method further includes: setting a safety compensation distance, wherein the sum of the safety compensation distance and the obstacle radius is the equivalent radius of the obstacle.

4. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 3, characterized in that: When the virtual navigator enters the obstacle avoidance radius, the method further includes: determining whether the virtual navigator needs to avoid the obstacle in advance, including: When the distance between the virtual navigator and the line connecting the target point and the obstacle is less than the equivalent radius of the obstacle, it is determined that the virtual navigator needs to avoid the obstacle in advance.

5. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 1, characterized in that: The setting of the avoidance reference position includes: setting the avoidance reference position according to the position of the obstacle, the radius of the obstacle, the safety compensation distance, the impact radius and the position of the target point.

6. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 1, characterized in that: The compensating the forward direction of the dual unmanned boat cooperative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator includes: Determine the compensation period for forward direction compensation according to the avoidance radius influence radius and the time step; According to the position of the target point, the position of the virtual navigator, the avoidance reference position and the compensation period, the compensation angle of the forward direction of the dual unmanned boat cooperative system in each period is determined.

7. The obstacle avoidance method of the dual unmanned boat cooperative system according to claim 1, characterized in that: The method further includes: when the angle between the improved speed direction of the dual unmanned boat cooperative system and the initial forward direction without direction compensation exceeds a preset angle, negative compensation is performed on the forward direction of the dual unmanned boat cooperative system.

8. An obstacle avoidance device for a dual unmanned boat cooperative system, characterized in that: The device comprises: An information acquisition unit, used to obtain the position, speed and heading information of two unmanned boats in the dual unmanned boat cooperative system; The position determination unit is used to determine the position information of the virtual navigator of the dual unmanned boat cooperative system; wherein, is the position of the target point, and the position center of the two unmanned boats is used as the virtual navigator. ,speed , heading The relationship is as follows: in, is the location of the unmanned boat USV1, is the heading and speed of USV1 is the speed of USV1; The location of the unmanned boat USV2. is the heading of USV2, is the speed of USV2; The forward direction determination unit is used to determine the forward direction of the dual unmanned boat cooperative system according to the position of the virtual navigator, the position of the obstacle, and the position of the target point; wherein the virtual navigator is subjected to the virtual potential field force F of the obstacle and the target point in the marine environment, and the direction of the virtual potential field force is the navigation direction of the virtual navigator, which is specifically calculated as follows: in, is the attraction of the target point to the virtual navigator. is the gravitational gain constant, is the location of the target point, is the position of the virtual navigator, , are the repulsive forces exerted by the two obstacles on the virtual navigator. is the repulsion gain constant, is the distance between the virtual navigator and the obstacle, is the influence radius of the obstacle, Virtual potential force on the virtual navigator; virtual navigator's avoidance reference position , the determination process is as follows: in, is the radius of the obstacle, For virtual navigator and avoidance reference position Angle, For virtual navigators and target points Angle, is the angle between the virtual navigator and the obstacle, The obstacle and the target point The angle of the connecting line; A setting unit, used to set the avoidance radius of obstacles in the marine environment; The forward direction compensation unit is used to set the avoidance reference position when the virtual navigator enters the avoidance radius of the obstacle and needs to avoid the obstacle, and compensate the forward direction of the dual unmanned boat cooperative system according to the relative angle between the target point position, the avoidance reference position and the virtual navigator; specifically, first calculate the distance from the virtual navigator to the line connecting the target point and the obstacle , It is the basis for judging whether the virtual navigator needs to avoid obstacles in advance; The calculation formula is as follows: in, is the location of the obstacle, is the location of the target point, It is the position of the virtual navigator when the virtual navigator enters the avoidance area.

9. An electronic device comprising a processor and a memory for storing instructions executable by the processor, characterized in that: The processor is configured to execute the steps of the dual unmanned boat cooperative system obstacle avoidance method as described in any one of claims 1 to 7 when calling the executable instructions in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the obstacle avoidance method of the dual unmanned boat cooperative system described in any one of claims 1 to 7 are implemented.

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