A motion obstacle avoidance method during uuv navigation based on virtual puffing

A technology for movement disorders and obstacles, which is applied in the field of avoidance of movement disorders, and can solve problems such as the difficulty of accurately predicting the movement state of random movement disorders

Active Publication Date: 2018-04-03
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention proposes a method for avoiding motion obstacles in the UUV (Unmanned Underwater Vehicle) navigation process based on virtual puffing for the problem that the current motion obstacle avoidance method is difficult to accurately predict the motion state of random motion obstacles

Method used

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  • A motion obstacle avoidance method during uuv navigation based on virtual puffing
  • A motion obstacle avoidance method during uuv navigation based on virtual puffing
  • A motion obstacle avoidance method during uuv navigation based on virtual puffing

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specific Embodiment approach 1

[0030] Specific embodiment one: a method for avoiding motion obstacles in a UUV sailing process based on virtual puffing comprises the following steps:

[0031] 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 definit...

specific Embodiment approach 2

[0038] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the first step, according to the headAngle, it is determined that the UUV and the movement disorder are sailing in the same direction or the UUV and the movement disorder are sailing in the same direction as:

[0039] Such as figure 2 As shown, when When , the UUV and the motion obstacle are facing each other; if image 3 As shown, when When , the UUV and the motion obstacle sail in the same direction.

specific Embodiment approach 3

[0040] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is that: in the step two, avoiding movement disorders is specifically:

[0041] Step 21: When the UUV detects a movement obstacle and sails in the opposite direction, the movement obstacle is circularly expanded, and the area radius after expansion is R, R>obs_r+safe_d, and the obs_r is the radius of the movement obstacle (during the modeling process, according to The maximum width of the obstacle will make the obstacle a circular model), safe_d is the expansion distance;

[0042] Step 22: According to the circular expansion of the movement obstacle in step 21, a rectangular virtual obstacle with a length of L and a width of 2R is generated along the forward direction of the movement obstacle, such as Figure 4 Shown; The relationship between the length of the rectangular virtual barrier and the straight-line distance M from the UUV to the cent...

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Abstract

The invention discloses a method for avoiding a moving obstacle in a UUV navigation process based on virtual puffing, and relates to the method for avoiding the moving obstacle in the UUV navigation process. The invention aims at solving a problem that a conventional moving obstacle avoiding method is difficult to predict the moving state of a random moving obstacle accurately. The method comprises the steps: firstly determining that an UUV and the moving obstacle navigate in opposite directions or in the same direction, adjusting the heading of the UUV through employing a puffing and rectangular virtual obstacle when the UUV and the moving obstacle navigate in opposite directions, and avoiding the moving obstacle, wherein the navigation in the same direction comprises two types: the UUV follows the moving obstacle and the moving obstacle follows the UUV; adjusting the heading of the UUV through employing the puffing and rectangular virtual obstacle when the UUV follows the moving obstacle, and avoiding the moving obstacle; enabling the UUV to continuously adjust the moving speed when the moving obstacle follows the UUV, adjusting the heading of the UUV through employing the puffing and rectangular virtual obstacle, and avoiding the moving obstacle. The method is used in the field of moving obstacle avoiding of UUVs.

Description

technical field [0001] The present invention relates to a method for avoiding motion obstacles during UUV navigation based on virtual puffing. Background technique [0002] In recent years, countless achievements have been made on the avoidance methods of dyskinesias, which can be roughly divided into three categories. The first category is to predict the movement trend of dyskinesias first, and then make corresponding countermeasures according to different trends; the second category is to 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 enable the UUV to have Intelligent obstacle avoidance ability; [0003] The strategy based on trend prediction can better avoid motion obstacles with relatively stable motion state, but ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 王宏健张雪莲徐新王莹么洪飞
Owner HARBIN ENG UNIV
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