Unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance

Abstract

The invention discloses an unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance. The unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance includes the steps: dividing the guidance process into a path following mode and an obstacle avoidance control guidance mode to improve a DVS guidance algorithm as the basic framework; dynamically programming a smooth reference path formed by lines and curves by means of a GVS, wherein the path following mode and the obstacle avoidance control guidance mode are respectively corresponding to different guide vectors of the DVS; and for obstacle avoidance guidance of a plurality of or hybrid obstacles, determining the current obstacle avoidance target according to the priority sequence and obstacle avoidance control conditions, and starting the obstacle avoidance control mode, wherein the transition function guarantees the smoothness of the DVS guide vectors for switching among different modes. The unmanned surface vessel path following guidance method considering hybrid multi-target obstacle avoidance has applicability for various control strategies and is convenient for combination with the current advanced control algorithm, wherein the control algorithm is used for guaranteeing convergence of DVS for a real ship and guaranteeing effectiveness of the guidance strategy.

Description

A Path Tracking Guidance Method for Unmanned Surface Vehicles Considering Mixed Multi-target Obstacle Avoidance technical field The invention relates to the fields of ship control engineering and ship automatic navigation, and more specifically, to a path tracking and guidance method for an unmanned surface vehicle considering mixed multi-objective obstacle avoidance. Background technique The key technology of ship motion control is to realize ship track keeping and collision avoidance / obstacle avoidance through guidance strategy. The guidance algorithms for ship path tracking are widely used at present, mainly including line-of-sight (LOS) guidance algorithm and dynamic virtual boat (DVS) guidance algorithm. The obstacle avoidance algorithm can learn from the control of mobile robots and land vehicles, and adopts an obstacle avoidance algorithm based on the concept of stable limit cycles in nonlinear control theory, that is, the limit cycle obstacle avoidance algorithm. T...

AI Technical Summary

Problems solved by technology

This algorithm does not have the path planning function at the turning point. If an obstacle is encountered at the turning point, the guidance algorithm will fail. Combination of research results related to ship path tracking control

(2) The guidance algorithm does not have the function of avoiding obstacles for multiple obstacles, and is only suitable for situations where a single ship will encounter collision avoidance, and is not suitable for obstacle avoidance control in complex ocean environments and high-speed ships

In addition, there are steps in the switching process of the guidance algorithm path tracking mode and obstacle avoidance control mode, and the switching process is not smooth

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