基于几何速度障碍的船舶-无人机桥区协同避碰控制方法
By employing the geometric velocity obstacle method and DVS-DVA guidance technology, combined with a hyperbolic tangent speed change mechanism and a multi-port segmented event triggering mechanism, the problem of three-dimensional obstacle collision avoidance in ship-UAV collaborative bridge crossing missions was solved, achieving high-precision collision avoidance control and resource optimization, and ensuring the safety and stability of the bridge crossing process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DALIAN MARITIME UNIVERSITY
- Filing Date
- 2026-05-14
- Publication Date
- 2026-07-17
AI Technical Summary
In ship-UAV collaborative bridge crossing missions, existing technologies cannot effectively handle obstacles in three-dimensional space using traditional path planning and control methods. This leads to frequent actions of the actuators and waste of resources. At the same time, the communication channels are overburdened, making it difficult to balance high precision with resource utilization.
The initial collision avoidance path is planned using the geometric velocity obstacle method, and the circular arc smoothing is performed by combining DVS-DVA guidance technology. A hyperbolic tangent speed change mechanism and a multi-port segmented event triggering mechanism are designed to achieve collaborative collision avoidance control between ships and UAVs.
It achieves high-precision collision avoidance between ships and drones in three-dimensional space, optimizes resource utilization, reduces communication bandwidth consumption, and ensures the safety and stability of the bridge crossing process.
Smart Images
Figure CN122195098B_ABST