Double-body referee ship motion planning method and system and storage medium

Abstract

The invention provides a double-body referee ship motion planning method and system and a storage medium, and the method comprises the steps: obtaining the competition position of each competition ship, and planning the competition areas of all competition ships based on the competition positions; obtaining a competition ship state of each competition ship, and planning a judgment path for the driving of the double-body judgment ship according to the competition ship state and the competition area; and acquiring a referee orientation of the double-body referee ship, and water information and wind information corresponding to the referee orientation, and generating a motion instruction based on the referee orientation, the water information, the wind information and the referee path so as to enable the double-body referee ship to travel along the referee path. According to the invention, interference to athletes can be reduced.

Description

Technical Field

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

[0002] Regatta is more than just a sport; it's a unique cultural experience. It blends the essence of history, art, technology, and nature, allowing people to experience the majesty and mystery of water. The social nature of regattas also makes them a bridge for communication and connection, allowing participants and spectators to share the passion and joy. To ensure fairness and safety, regattas require the participation of referees, who travel aboard a catamaran, which operates on the water.

[0003] At present, catamaran referee boats are basically manually driven, that is, the route of the catamaran referee boat is determined by humans. Although this can reduce the configuration requirements for the catamaran referee boat, if it is not driven properly, it is easy to overlap with the athletes' routes and cause interference to the athletes. Summary of the Invention

[0004] In order to reduce interference to athletes, embodiments of the present application provide a motion planning method, system, and storage medium for a catamaran referee boat.

[0005] In a first aspect, this embodiment provides a motion planning method for a catamaran referee boat, the method comprising: Obtaining a race position of each racing boat, and planning a race area for all racing boats based on the race position; Acquiring the status of each racing boat, and planning a referee path for the catamaran referee boat based on the status of the racing boat and the competition area; Obtain a referee position of the catamaran referee boat, and water information and wind information corresponding to the referee position, and generate motion instructions based on the referee position, water information, wind information and referee path to enable the catamaran referee boat to travel along the referee path.

[0006] In some embodiments, planning the competition area for all racing boats based on the competition position includes: Draw all the competition positions into a curve segment, and determine the competition positions of the endpoints corresponding to the curve segment; Obtaining the historical race position corresponding to each endpoint race position, and substituting the endpoint race position and the historical race position corresponding to the same racing boat into the trajectory prediction model to obtain the future position of the racing boat; All future positions, historical race positions and end race positions are connected in sequence to obtain the race area of ​​all racing boats.

[0007] In some embodiments, after obtaining the racing boat status of each racing boat, the method further includes: Determine whether a demand instruction for entering the competition area is received. If so, obtain the target competition ship that sent the demand instruction, and deduct the preset area containing the target competition ship from the competition area to regain the competition area.

[0008] In some embodiments, the racing boat state includes a racing boat stable state and a racing boat turbulent state, and planning the referee path of the catamaran referee boat based on the racing boat state and the competition area includes: Obtaining a unilateral boundary line of the competition area, determining whether all the competition boats are in a stable state, and if so, determining a parallel line at a preset distance from the unilateral boundary line as a referee path for the catamaran referee boat; If not, obtain the turbulent racing boat position corresponding to the turbulent state of the racing boat, re-determine a movement route using the turbulent racing boat position and a parallel line at a preset distance from the unilateral boundary line, and determine the movement route as the referee path of the catamaran referee boat.

[0009] In some embodiments, re-determining a movement route of the turbulent racing boat position and a parallel line at a preset distance from the unilateral boundary line includes: Acquire several parallel positions on the parallel lines, calculate the vertical distance between each parallel position and the starting line of the race, and the vertical distance between the position of the turbulent race boat and the starting line, and connect the corresponding points of the corresponding positions in ascending order of the vertical distances to obtain a movement route.

[0010] In some embodiments, the referee position includes a referee position and a referee direction, and generating a motion instruction based on the referee position, water information, wind information, and a referee path to cause the catamaran referee boat to travel along the referee path includes: Acquiring a path direction of the referee path at the referee position, and determining a travel direction of the catamaran referee boat based on the path direction and the referee direction; determining a relationship between the water information and the water in the traveling direction, and a relationship between the wind information and the wind in the traveling direction, and determining a driving force required for the catamaran referee boat to travel based on the water relationship and the wind relationship; A motion instruction is generated based on the driving direction and the driving power to make the catamaran referee boat travel along the referee path.

[0011] In some embodiments, the method further comprises: The number of racing boats in a turbulent state is obtained, and it is determined whether the number exceeds one. If so, a help signal is generated.

[0012] In a second aspect, this embodiment provides a catamaran referee boat motion planning system, the system comprising: an information processing module, a path planning module and a motion planning module; wherein, The information processing module is used to obtain the competition position of each racing boat and plan the competition area for all racing boats based on the competition position; The path planning module is used to obtain the status of each racing boat and plan the referee path of the catamaran referee boat based on the status of the racing boat and the competition area; The motion planning module is used to obtain the referee position of the catamaran referee boat, and the water information and wind information corresponding to the referee position, and generate motion instructions based on the referee position, water information, wind information and referee path to enable the catamaran referee boat to travel along the referee path.

[0013] In some embodiments, the system further comprises a help-seeking module, which is configured to obtain the number of racing boats in a turbulent state, determine whether the number exceeds one, and generate a help-seeking signal if the number exceeds one.

[0014] In a third aspect, this embodiment provides a computer-readable storage medium storing a computer program that can be run on a processor, wherein when the computer program is executed by the processor, the method for motion planning of a catamaran referee boat as described in the first aspect is implemented.

[0015] By adopting the above method, the present application first obtains the competition position of each competition boat and plans the competition area for all competition boats based on the competition position. Then, the competition boat status of each competition boat is obtained, and the referee path for the catamaran referee boat is planned based on the competition boat status and the competition area. At this time, it is possible to simultaneously take into account the athlete's needs and the competition boat status during the competition, and plan a referee route that better meets actual needs and minimizes interference with the athletes. Finally, the referee position of the catamaran referee boat and the water information and wind information corresponding to the referee position are obtained. Based on the referee position, water information, wind information and referee path, motion instructions are generated to enable the catamaran referee boat to travel along the referee path. This allows the catamaran referee boat to automatically and accurately travel along a path that does not interfere with the competition boats as much as possible, thereby minimizing interference with the athletes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a block diagram of a catamaran referee boat motion planning method provided in an embodiment of the present application.

[0017] Figure 2This is a block diagram of a competition area for planning all competition boats based on competition positions provided by an embodiment of the present application.

[0018] Figure 3 This is a schematic diagram of the updated competition area provided in an embodiment of the present application.

[0019] Figure 4 The embodiment of the present application provides a method for planning the referee path of the catamaran referee boat according to the status of the racing boat and the competition area.

[0020] Figure 5 This is a connection diagram of a catamaran referee boat motion planning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. However, it should be understood by those skilled in the art that the present application can be implemented without these details. It is obvious to those skilled in the art that various changes can be made to the embodiments disclosed in the present application, and the general principles defined in the present application can be applied to other embodiments and application scenarios without departing from the principles and scope of the present application. Therefore, the present application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope claimed in the present application.

[0022] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0023] Because catamarans generate smaller waves, have a shallower draft, and are faster, they are suitable for referee supervision during water sports competitions. Therefore, the catamaran referee boat of this application uses a catamaran. This allows the relevant instructions to be executed based on the above characteristics of the catamaran referee boat, quickly reaching the designated location, reducing response time, and completing the corresponding work. Figure 1 This is a block diagram of a catamaran referee boat motion planning method provided in an embodiment of the present application. Figure 1 As shown, a catamaran referee boat motion planning method includes the following steps: Step S100: obtaining the position of each racing boat, and planning the competition areas for all racing boats based on the competition positions.

[0024] This embodiment describes the solution from the perspective of the central processing end. The competition in which all racing boats participate is a movement from the starting line to the end line. Each racing boat is equipped with a positioning device. By checking the positioning device on each racing boat at the same time, the racing boat position of each racing boat can be obtained. Among them, all racing boat positions and the starting line and the end line share the same coordinate system. Since the racing boats will be affected by factors such as the environment, the strength and movements between the rowers during the competition, they will not row completely according to the preset trajectory or state. Therefore, if a pre-set fixed area is used as the competition area for the racing boat, the competition area may be divided into too large areas, or the divided areas may be partially small, or there may be deviations in the competition area, resulting in the competition area not being quite suitable for the current competition. In order to more accurately determine the competition area for the current competition, the competition areas of all racing boats can be planned based on the competition positions. Figure 2 This is a diagram of the competition area for all racing boats based on the competition position provided by the embodiment of the present application. Figure 2 As shown, planning the competition area for all racing boats based on the competition positions includes the following steps: Step S101: draw all the game positions into a curve segment, and determine the endpoint game positions corresponding to the curve segment.

[0025] Step S102: Obtain the historical race position corresponding to each endpoint race position, and substitute the endpoint race position and the historical race position corresponding to the same race boat into the trajectory prediction model to obtain the future position of the race boat.

[0026] Step S103: Connect all future positions, historical competition positions and endpoint competition positions in sequence to obtain the competition area for all competition boats.

[0027] The central processing unit uses drawing software to sequentially connect all the racing positions obtained at the same time, creating a smooth curve segment. This curve segment visually identifies the two outermost boats. These corresponding racing positions are then determined as the endpoint racing positions, which serve as reference information for subsequent determination of the racing area.

[0028] Step S101 above determines which two boats are located at the outermost positions. Even if the trajectories change during the race, the order of the boats remains fixed. After determining the endpoint positions, the historical race positions corresponding to each endpoint position are obtained, namely, the endpoint boat and the positions it has passed. The endpoint positions and historical race positions corresponding to the same endpoint boat are then combined into a race position group. All race positions within each race position group are arranged in chronological order. Each race position group is used as input information to determine the future position of the endpoint boat and is substituted into a trajectory prediction model that has been trained offline. Through processing by the trajectory prediction model, the future position of each endpoint boat at several future moments is output at the output of the trajectory prediction model. The number of moments can be determined based on the number of output information set by the preset trajectory model. The trajectory prediction model can be trained offline using data from actual race positions during historical races.

[0029] Then, by connecting all future positions, historical competition positions, and endpoint competition positions in sequence, the competition area of ​​all competition boats at the current moment can be obtained. The competition area is changed according to the obtained competition position, so that the competition area can be more in line with the needs of the current competition boat, and can be more accurate than the fixed competition area. Moreover, based on the historical competition position and the endpoint competition position, all future positions are added to plan the competition area. Not only can the future prediction of the competition area be made, so that when the catamaran referee boat needs to reach the area in front of the competition boat due to work requirements, the catamaran referee boat can be given the corresponding competition area in the front area, but also the catamaran referee boat can avoid the competition area more accurately and reduce the interference caused to the competition boat. Moreover, the competition area that the catamaran referee boat may reach can be informed in advance, so that the catamaran referee boat can carry out the corresponding movement trajectory in advance and respond in advance.

[0030] Step S200: obtaining the competition status of each racing boat, and planning the referee path of the catamaran referee boat according to the competition boat status and the competition area.

[0031] Each boat is also equipped with a detection device capable of detecting hull roll. This detection device can be an accelerometer, gyroscope, inclination sensor, or other sensor. Boat states include stable and turbulent. The central processing unit accesses each boat's detection device to obtain relevant detection parameters and compares each parameter to a preset reference parameter. If the detection parameter is greater than the preset reference parameter, the boat is in a turbulent state; if the detection parameter is less than the preset reference parameter, the boat is in a stable state. This preset reference parameter is used to distinguish between these two states.

[0032] Taking into account that during the competition, athletes may have some needs to request the catamaran referee boat to reach the competition boat where the athlete is located. Therefore, in order to better meet the needs of athletes, after obtaining the competition boat status of each competition boat, the central processing end also determines whether a demand instruction to enter the competition area is received. If so, the target competition boat that sent the demand instruction is obtained, and the preset area containing the target competition boat is deducted from the competition area to regain the competition area.

[0033] Specifically, the request instruction includes a keyword representing a request, and the request instruction is sent by an athlete on a racing boat in response to a request. The central processing end can determine whether a request instruction to enter the competition area has been received by checking whether the message sent by the racing boat contains the keyword representing the request. If the central processing end does not receive any message from any racing boat, or if the message sent by at least one racing boat does not contain the keyword representing the request, then it can be determined that the request instruction to enter the competition area has not been received. If the central processing end receives a message sent by at least one racing boat that contains the keyword representing the request, then it can be determined that a request instruction to enter the competition area has been received.

[0034] When no instruction to enter the competition area is received, it indicates that the catamaran referee boat does not need to enter the competition area obtained in step S103. At this time, the competition area is still the competition area obtained in step S103.

[0035] When a demand instruction to enter the competition area is received, it indicates that the catamaran referee boat needs to enter the competition area obtained in the above step S103. At this time, in order to meet the needs of the athletes, it is necessary to readjust the competition area based on the competition area obtained in the above step S103, that is, first obtain the target competition boat that sends the demand instruction, and then deduct the preset area containing the target competition area from the competition area to re-obtain the competition area. Among them, the preset area is an ellipsoid, the long axis direction of the ellipsoid is parallel to the starting line direction, and the endpoints of the long axis are respectively the position of the target competition boat and the line segment formed by the intersection of the long axis of the ellipsoid and the competition area in the above step S103. The intersection point is the intersection point on the side of the competition area where the catamaran referee boat is located, and the competition boat is determined at the beginning. The short axis length of the ellipsoid is a preset fixed length. Figure 3 Schematic diagram of the updated competition area provided in the embodiment of the present application. Figure 3 As shown in the figure, the shaded area is the updated competition area. This can obtain a competition area that can better meet the needs of athletes and make the obtained competition area more suitable for the current competition.

[0036] If the boat is in a turbulent state during the race, it indicates that the referee needs to arrive at the boat to handle the situation. If the boat is in a stable state during the race, it indicates that the referee does not normally need to arrive at the boat to handle the situation. Figure 4 The present application provides an embodiment of a method for planning the referee path of a catamaran referee boat based on the state of the racing boat and the competition area. Figure 4 As shown, planning the referee path of the catamaran referee boat based on the racing boat status and the racing area includes the following steps: Step S201: obtain a unilateral boundary line of the competition area, determine whether all the competition boats are in a stable state, and if so, determine a parallel line at a preset distance from the unilateral boundary line as a referee path for the catamaran referee boat.

[0037] Step S202: If not, obtain the turbulent racing boat position corresponding to the turbulent state of the racing boat, and re-determine a motion video by combining the turbulent racing boat position and a parallel line at a preset distance from the unilateral boundary line, and determine the motion route as the referee path of the catamaran referee boat.

[0038] The line formed by the boundary line corresponding to the competition area obtained above, starting from the historical competition position corresponding to the starting line on the side where the above intersection point is located, and sequentially to the boundary line corresponding to the preset area and the last position of the racing boat corresponding to the future position on that side is the boundary line of the single side of the competition area.

[0039] By checking the status of each racing boat, it can be determined whether all boats are in a stable state. If all boats are in a stable state, it indicates that the referee does not need to visit any of the boats to make a decision. The parallel line at a preset distance from the single-side boundary line obtained in step S201 above is the referee path of the catamaran referee boat.

[0040] In the case where not all boats are in a stable state, the positioning device on the boat in a turbulent state can be used to obtain the turbulent boat position corresponding to the turbulent state. Then, several parallel positions on the parallel line are obtained, and the vertical distance between each parallel position and the starting line of the race is calculated, as well as the vertical distance between the turbulent boat position and the starting line. The corresponding points of the corresponding positions are connected in order of vertical distance from smallest to largest to obtain a movement path. This movement path is the referee path of the catamaran referee boat. This can take into account both the needs of the athletes and the state of the boats during the competition, and plan a referee route that better meets actual needs and minimizes interference with the athletes.

[0041] Alternatively, when re-determining a movement route by combining the position of the turbulent racing boat and a parallel line at a preset distance from the unilateral boundary line, a route planning software can be used to re-plan a movement path using the turbulent race and the unilateral boundary line obtained in the above-mentioned step S201, so that the movement path includes the turbulent state of the racing boat and preserves as many unilateral boundary lines as possible. Then, the re-planned movement path is the referee path of the catamaran referee boat.

[0042] Step S300: Obtain the referee position of the catamaran referee boat, and the water information and wind information corresponding to the referee position, and generate motion instructions based on the referee position, water information, wind information and referee path to make the catamaran referee boat move along the referee path.

[0043] The referee orientation includes the referee position and the referee direction. A positioning device is provided at the bow and stern of the catamaran referee boat. By acquiring the data of each positioning device and averaging the two data obtained, the referee position can be obtained, and by connecting the two data obtained into a line, the referee direction can be obtained. The above-mentioned water information specifically refers to the water flow direction and water flow velocity, and the wind information refers to the wind direction and wind speed. Among them, the water information and wind information can be obtained with the help of the detection equipment set up in the competition venue. In order to enable the catamaran referee boat to accurately execute the referee path obtained in the above step S200, the catamaran referee boat is driven by electric control and does not require manual paddling, so it is necessary to generate motion instructions to make the catamaran referee boat travel along the referee path. Among them, generating motion instructions based on the referee orientation, water information, wind information and referee path to make the catamaran referee boat travel along the referee path includes the following steps: Step S301: Obtain the path direction of the referee path at the referee position, and determine the direction in which the catamaran referee boat needs to travel based on the path direction and the referee direction.

[0044] Step S302: Determine the relationship between the water information and the driving direction, and the relationship between the wind information and the driving direction, and determine the driving power required for the catamaran referee boat based on the water relationship and the wind relationship.

[0045] Step S303: Generate motion instructions based on the driving direction and driving power to make the catamaran referee boat travel along the referee path.

[0046] The tangent direction of the referee's position at the referee's path is calculated. This tangent direction is the referee's path direction at the referee's position. The path line is then compared with the referee's direction to determine the direction the catamaran needs to travel in order to stay in the path direction.

[0047] The water relationship, which determines the influence of the water flow on the direction of travel, is determined by comparing the water flow direction with the direction of travel. The wind relationship, which determines the influence of the wind direction on the direction of travel, is determined by comparing the wind direction with the direction of travel. If the water flow assists travel, the water relationship is positive; if the water flow hinders travel, the water relationship is negative. If the wind direction assists travel, the wind relationship is positive; if the wind direction hinders travel, the wind relationship is negative. Finally, the required driving power is calculated by combining the referee's original driving power and subtracting the water relationship and wind relationship in sequence to obtain the required driving power for the referee catamaran. Finally, motion instructions containing the driving direction and driving power are generated to direct the referee catamaran to follow the referee path. This allows the referee catamaran to automatically and accurately follow a path that minimizes interference with the competition boats, thereby minimizing disruption to the athletes.

[0048] The central processing unit also determines the number of boats in a turbulent state and determines whether this number exceeds one. If so, a distress signal is generated. Since the catamaran referee boat can only attend to one boat at a time, it cannot reach multiple boats simultaneously. Generating a distress signal allows external assistance to reach other turbulent boats, minimizing damage.

[0049] Figure 5 This is a schematic diagram of the connection of a catamaran referee boat motion planning system provided in an embodiment of the present application. Figure 5 As shown, a catamaran referee boat motion planning system includes an information processing module, a path planning module, a motion planning module and a help-seeking module.

[0050] The information processing module is used to obtain the competition position of each racing boat and plan the competition area for all racing boats based on the competition position. The path planning module is used to obtain the competition boat status of each racing boat and plan the referee path of the catamaran referee boat based on the competition boat status and the competition area. The motion planning module is used to obtain the referee position of the catamaran referee boat and the water and wind information corresponding to the referee position. Based on the referee position, water information, wind information, and referee path, motion instructions are generated to cause the catamaran referee boat to travel along the referee path. The help request module is used to obtain the number of racing boats in the turbulent state and determine whether the number exceeds one. If so, a help request signal is generated.

[0051] The other functions performed by the above-mentioned information processing module, path planning module, motion planning module and help-seeking module, as well as the technical details of each function, are the same as or similar to the corresponding features in the catamaran referee boat motion planning method described above, and therefore will not be repeated here.

[0052] An embodiment of the present application also provides a computer storage medium having a computer program stored thereon, which, when executed on a computer, enables the computer to execute the steps of the above-described method for motion planning of a catamaran referee boat.

[0053] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps and they may be executed in other orders.

[0054] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A motion planning method for a catamaran referee boat, characterized in that: The method comprises: Obtaining a race position of each racing boat, and planning a race area for all racing boats based on the race position; Acquiring the status of each racing boat, and planning a referee path for the catamaran referee boat based on the status of the racing boat and the competition area; Obtain a referee position of the catamaran referee boat, and water information and wind information corresponding to the referee position, and generate motion instructions based on the referee position, water information, wind information and referee path to enable the catamaran referee boat to travel along the referee path.

2. The method according to claim 1, characterized in that Planning the competition area for all the competition boats based on the competition position includes: Draw all the competition positions into a curve segment, and determine the competition positions of the endpoints corresponding to the curve segment; Obtaining the historical race position corresponding to each endpoint race position, and substituting the endpoint race position and the historical race position corresponding to the same racing boat into the trajectory prediction model to obtain the future position of the racing boat; All future positions, historical race positions and end race positions are connected in sequence to obtain the race area of ​​all racing boats.

3. The method according to claim 2, characterized in that After obtaining the racing boat status of each racing boat, the method further includes: Determine whether a demand instruction for entering the competition area is received. If so, obtain the target competition ship that sent the demand instruction, and deduct the preset area containing the target competition ship from the competition area to regain the competition area.

4. The method according to claim 2 or 3, characterized in that The racing boat state includes a racing boat stable state and a racing boat turbulent state, and planning the referee path of the catamaran referee boat according to the racing boat state and the competition area includes: Obtaining a unilateral boundary line of the competition area, determining whether all the competition boats are in a stable state, and if so, determining a parallel line at a preset distance from the unilateral boundary line as a referee path for the catamaran referee boat; If not, obtain the turbulent racing boat position corresponding to the turbulent state of the racing boat, re-determine a movement route using the turbulent racing boat position and a parallel line at a preset distance from the unilateral boundary line, and determine the movement route as the referee path of the catamaran referee boat.

5. The method according to claim 4, characterized in that The re-determining a movement route of the turbulent racing boat position and a parallel line at a preset distance from the unilateral boundary line comprises: Acquire several parallel positions on the parallel lines, calculate the vertical distance between each parallel position and the starting line of the race, and the vertical distance between the position of the turbulent race boat and the starting line, and connect the corresponding points of the corresponding positions in ascending order of the vertical distances to obtain a movement route.

6. The method according to claim 1, wherein The referee orientation includes a referee position and a referee direction, and generating a motion instruction based on the referee orientation, water information, wind information, and a referee path to enable the catamaran referee boat to travel along the referee path includes: Acquiring a path direction of the referee path at the referee position, and determining a travel direction of the catamaran referee boat based on the path direction and the referee direction; determining a relationship between the water information and the water in the traveling direction, and a relationship between the wind information and the wind in the traveling direction, and determining a driving force required for the catamaran referee boat to travel based on the water relationship and the wind relationship; A motion instruction is generated based on the driving direction and the driving power to make the catamaran referee boat travel along the referee path.

7. The method according to claim 4, characterized in that The method further comprises: The number of racing boats in a turbulent state is obtained, and it is determined whether the number exceeds one. If so, a help signal is generated.

8. A catamaran referee boat motion planning system, characterized in that: The system includes: an information processing module, a path planning module and a motion planning module; wherein, The information processing module is used to obtain the competition position of each racing boat and plan the competition area for all racing boats based on the competition position; The path planning module is used to obtain the status of each racing boat and plan the referee path of the catamaran referee boat based on the status of the racing boat and the competition area; The motion planning module is used to obtain the referee position of the catamaran referee boat, and the water information and wind information corresponding to the referee position, and generate motion instructions based on the referee position, water information, wind information and referee path to enable the catamaran referee boat to travel along the referee path.

9. The system according to claim 8, characterized in that The system further comprises a help-seeking module, which is used to obtain the number of racing boats in a turbulent state, determine whether the number exceeds one, and generate a help-seeking signal if the number exceeds one.

10. A computer-readable storage medium storing a computer program that can be run on a processor, characterized in that: When the computer program is executed by the processor, the method for motion planning of a catamaran referee boat is implemented.

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