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Evading method based on opposite-direction sailing of virtual puffed motion obstacle and UUV

A technology of motion obstacles and obstacles, which is applied in the field of avoidance of motion obstacles and UUV opposite navigation based on virtual puffing, and can solve problems such as difficult to accurately predict the state of motion obstacles

Active Publication Date: 2016-05-04
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem that it is difficult to accurately predict the motion state of motion obstacles in the currently adopted motion obstacle avoidance method of opposite navigation, and proposes a method based on virtual puffing of motion obstacles and UUV (Unmanned Underwater Vehicle) sailing in opposite directions. evasion method

Method used

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  • Evading method based on opposite-direction sailing of virtual puffed motion obstacle and UUV
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  • Evading method based on opposite-direction sailing of virtual puffed motion obstacle and UUV

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specific Embodiment approach 1

[0018] Specific embodiment one: a method for avoiding movement obstacles based on virtual puffing and UUV opposite navigation includes the following steps:

[0019] The guidance direction refers to the direction of the vector formed by the line from the current position of the UUV to the next non-motion obstacle waypoint. The so-called non-movement obstacle waypoint means that the waypoint is not formed by relying on the movement obstacle, but is the vertex of the static environment information in the environment, such as the vertex of the static target (p 2 ), necessary points, recycling points, etc. When the UUV runs to figure 1 At the position shown, when the No. 1 motion obstacle is encountered, the UUV triggers the dynamic programming algorithm to form a new avoidance route, point p 1 is the waypoint formed by the UUV to avoid the No. 1 movement obstacle and relies on the movement obstacle, and the point p 2 is the static target puffed vertex. So according to the def...

specific Embodiment approach 2

[0024] Embodiment 2: This embodiment differs from Embodiment 1 in that: in the step 2, the radius of the region after circular puffing of the dyskinesia is R, and R>obs_r+safe_d.

specific Embodiment approach 3

[0025] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is that: the rectangular virtual obstacle generated in the step three is specifically:

[0026] When the UUV detects that a moving obstacle is approaching, the moving obstacle will generate a rectangular virtual obstacle with a length of L and a width of 2R along the forward direction of the moving obstacle (such as image 3 shown), the relationship between the length of the rectangular virtual barrier and the straight-line distance M from the UUV to the central point of the motion barrier is:

[0027] L=R+λ(M-R)

[0028] Among them, 0<λ<1, λ is the length coefficient of the rectangular virtual obstacle generated by the moving obstacle when sailing in the opposite direction. The larger the λ, the larger the initial length of the rectangular virtual obstacle, and the greater the length change between two adjacent generation, the UUV will generat...

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Abstract

The invention discloses an evading method based on opposite-direction sailing of a virtual puffed motion obstacle and a UUV. The invention is aimed to solve the problem that the opposite direction sailing motion obstacle evading method which is currently adopted is hard to accurately predict the motion sate of the motion obstacle. The invention determines that the UUV and the motion obstacle sail in the opposite directions according to the fact that the included angle between the motion obstacle course and the guidance course is headAngle; when the UUV and the motion obstacle are detected to be sailed in the opposite directions, the motion obstacle generates a rectangle virtual obstacle after circular puffing, and the measurement distance of the waterway planning algorithm is calculated and triggered; when the straight line distance M between UUV and the motion obstacle center point satisfies M<nextL, the waterway planning algorithm is triggered to calculate the measurement distance nextL of the next time triggered plan until the waterway planning algorithm is not triggered anymore. The invention is applicable to the UUV motion obstacle evading field.

Description

technical field [0001] The invention relates to a method for avoiding movement obstacles and UUVs sailing in opposite directions based on virtual puffing. Background technique [0002] In recent years, countless achievements have been made on the avoidance strategy of movement obstacles, which can be roughly divided into three categories. The first category is to predict the movement trend of movement obstacles first, and then make corresponding countermeasures according to different trends; the second category is At the moment of dynamic avoidance, the movement obstacle is solidified into a static obstacle avoidance. As long as the frequency of dynamic avoidance is fast, the algorithm can continuously update the planned route until the movement obstacle is avoided; the third type is to use a learning algorithm to make the robot Capable of intelligent obstacle avoidance; [0003] The strategy based on trend prediction can better avoid motion obstacles with relatively stable...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王宏健张雪莲崔保华张宏瀚刘向波
Owner HARBIN ENG UNIV
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