A method, device, equipment, and storage medium for obstacle avoidance in a dual unmanned surface vessel cooperative system.

Abstract

This application discloses an obstacle avoidance method, device, electronic equipment, and storage medium for a dual unmanned surface vessel (USV) cooperative system. The method includes: acquiring the position, speed, and heading information of the two USVs in the cooperative system; determining the position information of the virtual navigator; determining the forward direction of the cooperative system based on the position of the virtual navigator, the position of the obstacle, and the position of the target point; setting the obstacle avoidance radius in the marine environment; when the virtual navigator enters the obstacle avoidance radius and obstacle avoidance is required, setting an avoidance reference position; and compensating the forward direction of the cooperative system based on the target point position, the avoidance reference position, and the relative angle between the virtual navigators. This application addresses the problem that in a flexibly connected dual USV cooperative system, excessive path curvature during obstacle avoidance makes it difficult for the system to track the planned path.

Description

Technical Field

[0001] This application relates to the field of autonomous obstacle avoidance technology for multiple unmanned surface vessels (USVs), and in particular to a method and device for local obstacle avoidance in an artificial potential field for a flexible connected dual USV cooperative system oriented towards target encirclement and capture, as well as electronic equipment and storage media. Background Technology

[0002] Currently, unmanned surface vehicles (USVs), as a type of marine equipment capable of monitoring the marine environment, deploying marine facilities, and carrying out combat missions, have broad application prospects. The operational efficiency advantages of flexible-connected dual USV collaborative systems are gradually becoming apparent in areas such as marine oil spill emergency response, offshore platform dismantling, and surface target cleanup. Therefore, in-depth research into flexible-connected dual USV collaborative system technology is of great significance for enhancing my country's national defense capabilities and expanding civilian application scenarios.

[0003] Local obstacle avoidance is one of the core technologies of unmanned surface vessels (USVs). Good local obstacle avoidance capabilities ensure that USVs can complete missions efficiently and safely. Local obstacle avoidance methods for flexibly connected dual USV cooperative systems need to consider strong spatiotemporal constraints. When the dual USV cooperative system turns, it will be affected by the interference effect of the flexible connection. If the curvature of the navigation path is too large, the path difference and speed difference between the inner and outer USVs will also be too large during turns, making it difficult to maintain the formation of the dual USV cooperative system. Therefore, the curvature of the navigation path needs to be considered.

[0004] Existing technologies set the center point of the dual unmanned surface vessel (USV) cooperative system as a virtual navigator and treat the virtual navigator as a point mass for path planning using the artificial potential field method. However, dual USV cooperative systems for target encirclement are often flexible USV systems, which will be interfered with by the flexible connection when navigating on the water surface, making it difficult to achieve the maneuverability of a single USV. The path obtained by conventional path planning methods is difficult for dual USV cooperative systems to track.

[0005] Existing unmanned surface vessel (USV) formation obstacle avoidance methods no longer maintain the original formation during obstacle avoidance; instead, all USVs re-form after avoiding the obstacle, which cannot meet the requirements under strong formation constraints. Alternatively, they do not consider the problem of formation maintenance difficulties in flexible connection dual USV cooperative systems when turning, resulting in excessively curvature of the planned path, which cannot meet practical needs. Summary of the Invention

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

[0007] According to a first aspect of the embodiments of this application, a method for obstacle avoidance in a dual unmanned surface vessel cooperative system is provided, comprising:

[0008] Acquire the position, speed, and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system;

[0009] Determine the location information of the virtual navigator in the dual unmanned surface vessel cooperative system;

[0010] The forward direction of the dual unmanned surface vessel cooperative system is determined based on the position of the virtual navigator, the position of obstacles, and the position of the target point.

[0011] Set the avoidance radius for obstacles in the marine environment;

[0012] When the virtual navigator enters the obstacle avoidance radius and needs to avoid the obstacle, an avoidance reference position is set, and the forward direction of the dual unmanned surface vessel cooperative system is compensated based on the target point position, the avoidance reference position, and the relative angle between the virtual navigator and the obstacle.

[0013] In some exemplary embodiments, determining the forward direction of the dual unmanned surface vessel (USV) cooperative system based on the position of the virtual navigator, the position of obstacles, and the position of the target point includes:

[0014] Set the radius of influence of the virtual repulsive force exerted by the obstacle on the virtual navigator;

[0015] Based on the position of the virtual navigator, the position of the obstacle, the position of the target point, and the radius of influence, determine the direction of the virtual potential field force exerted on the virtual navigator by the obstacle and the target point in the marine environment;

[0016] The direction of the virtual potential field force is set as the forward direction of the dual unmanned surface vessel cooperative system.

[0017] In some exemplary embodiments, 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.

[0018] In some exemplary embodiments, after 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:

[0019] When the distance from the virtual navigator to the target point and the line connecting 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.

[0020] In some exemplary embodiments, setting the avoidance reference position includes setting the avoidance reference position based on the location of the obstacle, the radius of the obstacle, the safety compensation distance, the influence radius, and the location of the target point.

[0021] In some exemplary embodiments, the compensation for the forward direction of the dual unmanned surface vessel cooperative system based on the target point position, the avoidance reference position, and the relative angle between the virtual navigators includes:

[0022] The compensation period for forward direction compensation is determined based on the radius of influence of the avoidance radius and the time step.

[0023] Based on the location of the target point, the location of the virtual navigator, the avoidance reference location, and the compensation cycle, the compensation angle for the forward direction of the dual unmanned surface vessel cooperative system is determined within each cycle.

[0024] In some exemplary embodiments, the method further includes: when the angle between the improved velocity direction of the dual unmanned surface vessel cooperative system and the initial forward direction without direction compensation exceeds a preset angle, performing negative compensation on the forward direction of the dual unmanned surface vessel cooperative system.

[0025] According to a second aspect of the embodiments of this application, a dual unmanned surface vessel cooperative system obstacle avoidance device is provided, the device comprising:

[0026] The information acquisition unit is used to acquire the position, speed, and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system;

[0027] The position determination unit is used to determine the position information of the virtual navigator in the dual unmanned surface vessel cooperative system;

[0028] The forward direction determination unit is used to determine the forward direction of the dual unmanned surface vessel cooperative system based on the position of the virtual navigator, the position of obstacles, and the position of the target point.

[0029] The setting unit is used to set the avoidance radius of obstacles in the marine environment;

[0030] The forward direction compensation unit is used to set an avoidance reference position when the virtual navigator enters the avoidance radius of an obstacle and needs to avoid the obstacle. It compensates the forward direction of the dual unmanned surface vessel cooperative system based on the target point position, the avoidance reference position, and the relative angle between the virtual navigator and the obstacle.

[0031] According to a third aspect of the embodiments of this application, an electronic device is provided, including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to execute the steps of the above-described obstacle avoidance method for a dual unmanned surface vessel cooperative system when the executable instructions in the memory are invoked.

[0032] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the above-described obstacle avoidance method for a dual unmanned surface vessel cooperative system.

[0033] In this embodiment, considering the poor maneuverability of the dual unmanned surface vessel (USV) system, obstacles are avoided in advance within the influence range, reducing the maximum curvature in the planned path. This solves the problem that the excessive curvature in the flexible dual USV cooperative system during obstacle avoidance using the artificial potential field method makes it difficult for the dual USV system to track the planned path. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic flowchart of the obstacle avoidance method of the dual unmanned surface vessel cooperative system according to an embodiment of this application is shown;

[0036] Figure 2 This illustration shows a schematic diagram of the virtual navigator's location information according to an embodiment of this application.

[0037] Figure 3 A schematic diagram of obstacle information according to an embodiment of this application is shown;

[0038] Figure 4 A schematic diagram of the artificial potential field according to an embodiment of this application is shown;

[0039] Figure 5 A schematic diagram of the turning route of the flexible connected dual unmanned surface vessel cooperative system according to an embodiment of this application is shown;

[0040] Figure 6 A schematic diagram of the improved artificial potential field strategy according to an embodiment of this application is shown;

[0041] Figure 7 This paper illustrates a virtual navigator path diagram after positive and negative compensation according to an embodiment of this application.

[0042] Figure 8 A schematic diagram of the obstacle avoidance device structure of the dual unmanned surface vessel cooperative system according to an embodiment of this application is shown;

[0043] Figure 9 A schematic diagram of the composition structure of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0045] The essence of the technical solution of the embodiments of this application will be explained in detail below with reference to the accompanying drawings.

[0046] Figure 1 A schematic flowchart of the obstacle avoidance method of the dual unmanned surface vessel cooperative system according to an embodiment of this application is shown, as follows: Figure 1 As shown, the local obstacle avoidance method of the artificial potential field of the dual-boat cooperative system for target encirclement in this application includes the following steps:

[0047] Step 101: Obtain the position, speed, and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system;

[0048] In this embodiment of the application, the position, speed and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system are obtained from sensor devices such as inertial navigation and Beidou.

[0049] Step 102: Determine the location information of the virtual navigator in the dual unmanned surface vessel cooperative system;

[0050] Figure 2 This is a schematic diagram of the virtual navigator location information in an embodiment of this application, as shown below. Figure 2 As shown in the embodiments of this application, The location of the target point is used as the virtual navigator, with the center of the two unmanned surface vessels as the virtual navigator's position. ,speed Bow direction is :

[0051]

[0052] in, This indicates the location of the unmanned surface vessel USV1. For USV1 heading, speed For USV1 speed; This is the location of the unmanned surface vessel USV2. For USV2 bow direction, This refers to the USV2 speed.

[0053] Step 103: Determine the forward direction of the dual unmanned surface vessel cooperative system based on the position of the virtual navigator, the position of obstacles, and the position of the target point;

[0054] In this embodiment of the application, determining the forward direction of the dual unmanned surface vessel (USV) cooperative system based on 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 virtual repulsive force exerted by the obstacle on the virtual navigator. Based on the virtual navigator's position, the obstacle's position, the target point's position, and the radius of influence... The direction of the virtual potential force exerted on the virtual navigator by obstacles and the target point in the marine environment is determined; the direction of the virtual potential force is set as the forward direction of the dual unmanned surface vessel cooperative system.

[0055] Figure 3 This is a schematic diagram of obstacle information according to an embodiment of this application. Scope such as Figure 3 As shown.

[0056] Figure 4 This is a schematic diagram of the artificial potential field in an embodiment of this application, such as... Figure 4 As shown, the virtual navigator in the marine environment is subjected to a virtual potential force F from obstacles and the target point. The direction of the virtual potential force is the navigation direction of the virtual navigator, and the specific calculation is as follows:

[0057]

[0058]

[0059]

[0060]

[0061] in, It is the attraction of the target point to the virtual navigator. For gravitational gain constant, The location of the target point. For the position of the virtual navigator, , These are the repulsive forces exerted on the virtual navigator by the two obstacles. The repulsive force gain is constant. The distance between the virtual navigator and obstacles. The radius of influence of the obstacle. The virtual potential field force experienced by the virtual navigator.

[0062] Step 104: Set the obstacle avoidance radius in the marine environment;

[0063] If the distance from the virtual navigator to the line connecting the obstacle and the target point is too short, the path curvature may be too large during subsequent obstacle avoidance. Therefore, an obstacle avoidance radius needs to be set. When the virtual navigator enters the avoidance radius It immediately begins compensating for the direction of travel, avoiding obstacles before reaching their influence range. Avoidance radius. like Figure 3 As shown.

[0064] In this embodiment, when the virtual navigator enters the obstacle avoidance radius and needs to avoid the obstacle, an avoidance reference position is set, and the forward direction of the dual unmanned surface vessel cooperative system is compensated based on the target point position, the avoidance reference position, and the relative angle between the virtual navigators. Specifically, this includes the following steps:

[0065] Step 105: Determine whether the virtual navigator has entered the obstacle avoidance radius; if the navigator has entered the obstacle avoidance radius, proceed to step 106; otherwise, proceed to step 110.

[0066] Step 106: Determine whether the virtual navigator needs to avoid obstacles in advance; if the virtual navigator needs to avoid obstacles in advance, proceed to step 107; otherwise, proceed to step 110.

[0067] In this embodiment of the 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 and R+ The radius is the equivalent radius of the obstacle. In this embodiment, obstacle information in the marine environment is obtained from environmental sensing devices such as marine radar to prepare for the subsequent implementation of obstacle avoidance functions. Figure 5 This is a schematic diagram of the turning route of the flexible connected dual unmanned surface vessel cooperative system according to an embodiment of this application, as shown below. Figure 5 As shown, since the obstacle avoidance method of the dual unmanned surface vessel (USV) cooperative system described in this application relies on information from a virtual navigator for local obstacle avoidance, and the navigation range of the virtual navigator differs from that of the dual USV cooperative system, a safety compensation distance is set to ensure that both USVs can safely avoid obstacles. The safety compensation distance The sum of the radius of the obstacle and the radius of the obstacle, R, is the equivalent radius of the obstacle.

[0068] The determination of whether the virtual navigator needs to avoid obstacles in advance includes: the distance from the virtual navigator to the line connecting the target point and the obstacle. When the radius of the obstacle is smaller than the equivalent radius of the obstacle, the virtual navigator is determined to need to avoid the obstacle in advance.

[0069] In this step, when the virtual navigator enters the obstacle avoidance area, the distance from the virtual navigator to the line connecting the target point and the obstacle is first calculated. , This serves as the basis for determining whether a virtual navigator needs to avoid obstacles in advance. When When the virtual navigator is too small, the path it generates for obstacle avoidance may have excessive curvature after entering the obstacle's influence range. The calculation formula is as follows:

[0070]

[0071] in, It is the location of the obstacle. It is the location of the target point. It is the virtual navigator's position when it enters the avoidance zone.

[0072] In this embodiment of the application, the distance from the virtual navigator to the line connecting the target point and the obstacle is... When it is smaller than the equivalent radius of the obstacle, that is At that time, 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 for avoiding obstacles in advance, that is... At this time, the virtual navigator needs to avoid obstacles in advance.

[0073] Step 107: Set the avoidance reference position;

[0074] In this embodiment of the application, setting the avoidance reference position includes: based on the location of the obstacle, the radius of the obstacle, and the safety compensation distance. Radius of influence And the target point location, set the avoidance reference position;

[0075] Figure 6 This is a schematic diagram of the improved artificial potential field strategy according to an embodiment of this application, such as... Figure 6 As shown, the virtual navigator's avoidance reference position The determination process is as follows:

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] in, Let the radius of the obstacle be . For virtual navigators and avoidance of reference positions Angle, For virtual navigators and destinations Angle, The perspective of the virtual navigator and obstacles. Obstacles and target points The angle of the connecting line.

[0083] Step 108: Compensate the forward direction of the dual unmanned surface vessel cooperative system based on the target point position, avoidance reference position, and relative angle between the virtual navigator;

[0084] In this embodiment of the application, the avoidance radius is first determined. Radius of influence And the time step, to determine the compensation period for the forward direction compensation. Then, based on the location of the target point, the location of the virtual navigator, the avoidance reference location, and the compensation cycle, the compensation angle for the forward direction of the dual unmanned surface vessel cooperative system within each cycle is determined.

[0085] Specifically, when the virtual navigator needs to avoid obstacles in advance within the avoidance area, the forward direction of the virtual navigator determined in step 103 needs to be corrected and compensated. To avoid excessive path curvature for the virtual navigator, this embodiment of the application... The virtual navigator's direction is adjusted within each cycle, specifically:

[0086]

[0087]

[0088] in, For time step, For the next The compensation angle is performed in each cycle of the cycle. These are preset parameters; in this embodiment of the application, Generally less than 1.

[0089] Step 109: When the angle between the improved velocity direction of the dual unmanned surface vessel (USV) cooperative system and the initial forward direction without direction compensation exceeds a preset angle, negative compensation is applied to the forward direction of the dual USV cooperative system. In this embodiment, the initial forward direction without direction compensation is the forward direction determined in step 103, and the preset angle is 45°.

[0090] To prevent the virtual navigator from deviating significantly in speed and direction after leaving the area affected by obstacles, negative compensation is needed for the virtual navigator's forward direction so that the dual unmanned surface vessel cooperative system can continue to move towards the encirclement area where the target point is located.

[0091] Figure 7 This is a schematic diagram of the virtual navigator path after positive and negative compensation in an embodiment of this application, as shown below. Figure 7 As shown in the embodiments of this application, in order to make the two arc paths generated by positive compensation and negative compensation tangent, and to make the navigation path during obstacle avoidance smoother, it is necessary to compensate the forward direction of the virtual navigator in multiple cycles. In the embodiments of this application, the critical point for positive compensation and negative compensation is the point where the angle between the improved velocity direction of the dual unmanned surface vessel cooperative system and the initial forward direction without direction compensation exceeds 45°; specifically:

[0092]

[0093] Where j is the current compensation cycle number, For the direction of the virtual navigator in the j-th cycle, For the first The direction of progress for the virtual navigator in each cycle, cycle This represents the critical point between positive and negative compensation, where n is the number of compensation cycles.

[0094] Step 110: Continue moving forward in the direction determined in Step 103.

[0095] Step 111: Determine whether the dual unmanned surface vessel cooperative system has reached the encirclement area where the target point is located; if the dual unmanned surface vessel cooperative system has reached the encirclement area where the target point is located, proceed to step 112; otherwise, return to step 101.

[0096] In this embodiment of the application, after the dual unmanned surface vessel cooperative system avoids the current obstacle, it moves to the next position, updates the current position of the virtual navigator, and determines whether the updated position of the virtual navigator has reached the encirclement area where the target point is located, thus meeting the task completion requirements. If the task completion requirements are met, step 112 is executed to end the task; otherwise, step 101 is returned to continue to acquire marine environmental information of the navigation area.

[0097] Step 112: Target capture mission completed.

[0098] The obstacle avoidance method for a dual unmanned surface vessel (USV) cooperative system described in this application addresses the problem of excessive curvature paths during turns under spatial constraints. It proposes an improved artificial potential field method for large curvature paths, resulting in smoother planned paths. Specifically, based on the artificial potential field method, this application uses the center of the dual USVs as a virtual navigator. It determines whether to optimize the turning path based on the current situation: an avoidance radius is set, first determining if the virtual navigator has entered the avoidance radius, and then checking if the distance between the obstacle and the target point is too small. If the virtual navigator enters the avoidance radius and the distance between the obstacle and the target point is too small, an avoidance reference position is set, and the angle of the resultant force of the potential field is compensated. To ensure a smooth path, positive and negative compensation mechanisms are proposed, ultimately guaranteeing that the flexible dual USV cooperative system can safely and smoothly avoid obstacles locally when performing target capture tasks.

[0099] This application also provides an obstacle avoidance device for a dual unmanned surface vessel cooperative system. Figure 8 This is a schematic diagram of the obstacle avoidance device structure of the dual unmanned surface vessel cooperative system according to an embodiment of this application, as shown below. Figure 8 As shown, the device includes:

[0100] Information acquisition unit 91 is used to acquire the position, speed and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system;

[0101] Position determination unit 92 is used to determine the position information of the virtual navigator in the dual unmanned surface vessel cooperative system;

[0102] The forward direction determination unit 93 is used to determine the forward direction of the dual unmanned surface vessel cooperative system based on the position of the virtual navigator, the position of the obstacle, and the position of the target point.

[0103] Setting unit 94 is used to set the avoidance radius of obstacles in the marine environment;

[0104] The forward direction compensation unit 95 is used to set an avoidance reference position when the virtual navigator enters the avoidance radius of an obstacle and needs to avoid the obstacle. It compensates the forward direction of the dual unmanned surface vessel cooperative system based on the target point position, the avoidance reference position and the relative angle between the virtual navigator and the obstacle.

[0105] 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 (CPUs), graphics processing units (GPUs), application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, micro controller units (MCUs), microprocessors, or other electronic components.

[0106] In the embodiments of this application, Figure 8 The specific methods by which each unit in the obstacle avoidance device of the dual unmanned surface vessel cooperative system performs its operations have been described in detail in the embodiments of the relevant method, and will not be elaborated here.

[0107] This 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-described obstacle avoidance method for a dual unmanned surface vessel cooperative system when the executable instructions in the memory are invoked.

[0108] Figure 9 This is a schematic diagram of the composition structure of the electronic device according to an embodiment of this application, such as... Figure 9 As shown, the electronic device 800 supports multi-screen output and may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input / output (I / O) interface 812, sensor component 814, and communication component 816.

[0109] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0110] Memory 804 is configured to store various types of data to support the operation of device 800. Examples of this data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. 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 storage, flash memory, magnetic disk, or optical disk.

[0111] Power supply component 806 provides power to various components of electronic device 800. Power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0112] 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 touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0113] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0114] 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 buttons, volume buttons, power buttons, and lock buttons.

[0115] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0116] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as Wi-Fi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0117] In an exemplary embodiment, the electronic device 800 may 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 perform the steps of the obstacle avoidance method of the dual unmanned surface vessel cooperative system described in the above embodiments.

[0118] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of an electronic device 800 to complete the steps of the obstacle avoidance method of the dual unmanned surface vessel cooperative system described in the above embodiments. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0119] This application also describes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the obstacle avoidance method of the dual unmanned surface vessel cooperative system described in the embodiment.

[0120] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the invention, the sequence numbers of the above-described processes do not imply a sequential 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 embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0121] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0122] 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 merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not present.

[0123] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0124] The above description is merely an embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for obstacle avoidance in a dual unmanned surface vessel cooperative system, characterized in that, The method includes: Acquire the position, speed, and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system; Determine the position information of the virtual navigator in the dual unmanned surface vessel (USV) cooperative system; wherein, the position center of the dual USVs is taken as the virtual navigator, and the position of the virtual navigator is... ,speed Bow direction is The relationship is as follows: in, This indicates the location of the unmanned surface vessel USV1. For USV1 heading, speed For USV1 speed; This is the location of the unmanned surface vessel USV2. For USV2 bow direction, For USV2 speed; The forward direction of the dual unmanned surface vessel (USV) cooperative system is determined based on the positions of the virtual navigator, obstacles, and target point. The virtual navigator experiences a virtual potential force F from the obstacles and target point in the marine environment; the direction of this virtual potential force is the virtual navigator's direction of travel, calculated as follows: in, It is the attraction of the target point to the virtual navigator. For gravitational gain constant, The location of the target point. For the position of the virtual navigator, , These are the repulsive forces exerted on the virtual navigator by the two obstacles. The repulsive force gain is constant. The distance between the virtual navigator and obstacles. The radius of influence of the obstacle. The virtual potential force acting on the virtual navigator; the virtual navigator's avoidance reference position. The determination process is as follows: in, Let the radius of the obstacle be . For virtual navigators and avoidance of reference positions Angle, For virtual navigators and destinations Angle, The perspective of the virtual navigator and obstacles. Obstacles and target points The angle of the connecting line; Set the avoidance radius for obstacles in the marine environment; When the virtual navigator enters the obstacle avoidance radius and needs to avoid the obstacle, an avoidance reference position is set. The forward direction of the dual unmanned surface vessel (USV) cooperative system is compensated based on the target point position, the avoidance reference position, and the relative angle between the virtual navigator and the USV. This includes: determining the compensation period for forward direction compensation based on the avoidance radius's influence radius and the time step; and determining the compensation angle for the forward direction of the dual USV cooperative system within each period based on the target point position, the virtual navigator position, the avoidance reference position, and the compensation period. Specifically, the distance from the virtual navigator to the line connecting the target point and the obstacle is first calculated. , It serves as the basis for determining whether a virtual navigator needs to avoid obstacles in advance; The calculation formula is as follows: in, It is the location of the obstacle. It is the location of the target point. It is the virtual navigator's position when it enters the avoidance zone.

2. The obstacle avoidance method for a dual unmanned surface vessel cooperative system according to claim 1, characterized in that, Determining the forward direction of the dual unmanned surface vessel (USV) cooperative system based on the virtual navigator's position, obstacle positions, and target point positions includes: Set the radius of influence of the virtual repulsive force exerted by the obstacle on the virtual navigator; Based on the position of the virtual navigator, the position of the obstacle, the position of the target point, and the radius of influence, determine the direction of the virtual potential field force exerted on the virtual navigator by the obstacle and the target point in the marine environment; The direction of the virtual potential field force is set as the forward direction of the dual unmanned surface vessel cooperative system.

3. The obstacle avoidance method for a dual unmanned surface vessel 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 for a dual unmanned surface vessel cooperative system according to claim 3, characterized in that, Once 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 from the virtual navigator to the target point and the line connecting 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 for a dual unmanned surface vessel cooperative system according to claim 1, characterized in that, Setting the avoidance reference position includes: setting the avoidance reference position based on the location of the obstacle, the radius of the obstacle, the safety compensation distance, the influence radius, and the location of the target point.

6. The obstacle avoidance method for a dual unmanned surface vessel cooperative system according to claim 1, characterized in that, The method further includes: when the angle between the improved velocity direction of the dual unmanned surface vessel 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 surface vessel cooperative system.

7. An obstacle avoidance device for a dual unmanned surface vessel cooperative system, characterized in that, The device includes: The information acquisition unit is used to acquire the position, speed, and heading information of the two unmanned surface vessels in the dual unmanned surface vessel cooperative system; The position determination unit is used to determine the position information of the virtual navigator in the dual unmanned surface vessel cooperative system; among which... The location of the target point is used as the virtual navigator, with the center of the two unmanned surface vessels as the virtual navigator's position. ,speed Bow direction is The relationship is as follows: in, This indicates the location of the unmanned surface vessel USV1. For USV1 heading, speed For USV1 speed; This is the location of the unmanned surface vessel USV2. For USV2 bow direction, For USV2 speed; The forward direction determination unit is used to determine the forward direction of the dual unmanned surface vessel (USV) cooperative system based on the positions of the virtual navigator, obstacles, and target point. The virtual navigator is subjected to a virtual potential force F from the obstacles and target point in the marine environment. The direction of this virtual potential force is the virtual navigator's direction of travel, calculated as follows: in, It is the attraction of the target point to the virtual navigator. For gravitational gain constant, The location of the target point. For the position of the virtual navigator, , These are the repulsive forces exerted on the virtual navigator by the two obstacles. The repulsive force gain is constant. The distance between the virtual navigator and obstacles. The radius of influence of the obstacle. The virtual potential force acting on the virtual navigator; the virtual navigator's avoidance reference position. The determination process is as follows: in, Let the radius of the obstacle be . For virtual navigators and avoidance of reference positions Angle, For virtual navigators and destinations Angle, The perspective of the virtual navigator and obstacles. Obstacles and target points The angle of the connecting line; The setting unit is used to set the avoidance radius of obstacles in the marine environment; The forward direction compensation unit is used to compensate the forward direction of the dual unmanned surface vessel (USV) cooperative system when the virtual navigator enters the obstacle avoidance radius and needs to avoid the obstacle. This includes setting an avoidance reference position and compensating for the forward direction based on the target point position, the avoidance reference position, and the relative angle between the virtual navigator and the USV. Specifically, this involves: determining the compensation period for forward direction compensation based on the avoidance radius's influence radius and the time step; and determining the compensation angle for the forward direction of the dual USV cooperative system within each period based on the target point position, the virtual navigator position, the avoidance reference position, and the compensation period. The unit first calculates the distance from the virtual navigator to the line connecting the target point and the obstacle. , It serves as the basis for determining whether a virtual navigator needs to avoid obstacles in advance; The calculation formula is as follows: in, It is the location of the obstacle. It is the location of the target point. It is the virtual navigator's position when it enters the avoidance zone.

8. An electronic device comprising a processor and a memory for storing processor-executable instructions, characterized in that, The processor is configured to execute the steps of the obstacle avoidance method for a dual unmanned surface vessel cooperative system as described in any one of claims 1 to 6 when retrieving executable instructions in memory.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the obstacle avoidance method for the dual unmanned surface vessel cooperative system according to any one of claims 1 to 6.

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