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Unmanned boat obstacle avoidance method based on collision hazardous area prediction

A technology for dangerous areas and unmanned boats, applied in the field of obstacle avoidance of unmanned boats, can solve problems such as unsatisfactory obstacle avoidance effect, and achieve the effect of good obstacle avoidance effect

Active Publication Date: 2018-08-24
SHANGHAI UNIV
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

In the existing obstacle avoidance methods, the output is directly to control the speed and direction of the unmanned boat to complete the obstacle avoidance, and there are very few studies combined with maritime rules, which are simply designed to avoid obstacles. The effect is not ideal

Method used

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  • Unmanned boat obstacle avoidance method based on collision hazardous area prediction
  • Unmanned boat obstacle avoidance method based on collision hazardous area prediction
  • Unmanned boat obstacle avoidance method based on collision hazardous area prediction

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the preferred embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] Such as figure 1 As shown, an unmanned vehicle obstacle avoidance method based on predicting the collision risk area includes the following steps:

[0034] Step 1, obtain the current position, movement and size information of the unmanned vehicle and obstacles:

[0035] Obtain the longitude and latitude position information of the unmanned boat through GPS or Beidou sensors, and convert the longitude and latitude position information of the unmanned boat into (x, y) coordinates in the Beidou ground coordinate system. The east direction is the y-axis, and a point on the earth's surface is the coordinate origin. The motion and attitude information of the unmanned boat is obtained through the inertial navigation sensor, and the m...

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Abstract

The invention discloses an unmanned boat obstacle avoidance method based on collision hazardous area prediction. The method comprises according to the position and speed of the unmanned boat at the current moment and the position and speed of an obstacle, determining a collision risk, calculating a possible collision area, and then projecting the area onto a grid map to achieve an obstacle avoidance purpose by enabling the unmanned boat to avoid the area (hazardous area). The method combines an obstacle avoidance rule of sea vessels, uses a Theta* search algorithm to carry out path planning, and finally obtains the unmanned boat driving path in order not to collide with the obstacle and to meet the obstacle avoidance rule at sea. A simulation experiment proves that the method has a good obstacle avoidance effect.

Description

technical field [0001] The invention relates to an obstacle avoidance method for an unmanned boat based on a predicted collision danger area. Background technique [0002] With the advancement of science and technology, modular, intelligent, and unmanned weapons and equipment have been greatly developed. Unmanned surface vehicle (USV), referred to as unmanned vehicle, has been tried more and more in ocean warfare, and is likely to become an increasingly important means of combat. In addition to the use of marine military, unmanned boats can also be used for civilian purposes, such as for ocean monitoring, early warning and maritime search and rescue. Since the 1980s, Western countries have gradually attached importance to the research of unmanned boats and invested a lot of manpower and material resources. Among them, the United States and Israel have made great breakthroughs in the research of unmanned boats, which have been applied to the military. In recent years, my c...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 谢少荣陈士荣罗均李小毛彭艳
Owner SHANGHAI UNIV
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