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Unmanned ship path programming system and method capable of taking sea condition factors into consideration

A technology for path planning and unmanned boats, which is applied in control/regulation systems, two-dimensional position/channel control, vehicle position/route/height control, etc., which can solve the problem of not considering the disturbance of the sea wave environment, and can not generate in line with the actual environment. Conditional path and other issues, to achieve the effect of reliable and reasonable path planning system and improve rationality

Inactive Publication Date: 2018-09-04
SHANGHAI UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a path planning system and method for unmanned boats considering sea conditions, which solves the problem that the general path planning does not consider the environmental disturbance caused by waves, so that it cannot generate a path that meets the actual environmental conditions

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  • Unmanned ship path programming system and method capable of taking sea condition factors into consideration

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Embodiment Construction

[0019] The preferred embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0020] Such as figure 1 As shown, an unmanned vehicle path planning system considering sea state factors is characterized in that it includes an unmanned surface vehicle 1, a sea state monitoring module 2, an environment perception module 3, a GPS / IMU module 4, a path planning module 5, and a control module 6. The path planning module 5 is installed inside the unmanned surface vehicle 1, and calculates a series of target points to be reached according to the obstacle information obtained by the environment perception module 3 and the wave level estimated by the sea state monitoring module 2; The control module 6 is installed inside the unmanned surface vehicle 1, and controls the unmanned surface vehicle 1 to arrive at a series of planned target points in sequence; the environment perception module 3 is composed of an electronic chart and a...

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Abstract

The invention discloses an unmanned ship path programming system and a method capable of taking sea condition factors into consideration. The unmanned ship path programming system comprises an unmanned surface vehicle, a path programming module, a control module, a GPS / IMU module, an environment perceiving module, and a sea condition monitoring module; the path programming module and the control module are arranged in the unmanned surface vehicle, and are used for programming of a series path points based on environment information and calculated ocean wave grade, and controlling the unmannedsurface vehicle to travel along the path points; the environment perceiving module is composed of an electric sea chart and a laser sensor, wherein the electric sea chart is arranged in the unmanned surface vehicle, and is used for providing static state barrier information, and the laser sensor is arranged on the front part of the deck of the unmanned surface vehicle through a support, and is used for providing barrier information; the GPS / IMU sensor is arranged on the top of the unmanned surface vehicle, and is used for providing other modules with the pose information of the unmanned surface vehicle; a navigation radar is adopted by the sea condition monitoring module, and the sea condition monitoring module is used for calculating ocean wave grade. The unmanned ship path programming system and the method capable of taking sea condition factors into consideration are reliable and reasonable, and are capable of improving the rationality of unmanned surface vehicle path programming.

Description

technical field [0001] The invention relates to a path planning system and method for unmanned boats considering sea conditions, and belongs to the field of path planning for unmanned boats. Background technique [0002] The unmanned surface vehicle is a small surface task platform with autonomous operation capability. It can perform many types of tasks. In addition to the basic functions of detecting the environment and targets, it can also use different modules for specific task types. equipment to complete mission objectives. At present, due to its outstanding performance and prospects in the military field, countries all over the world have shown strong interest in the research and development of military unmanned surface vehicles. At the same time, because unmanned surface vehicles have the characteristics of large coverage and low cost in scientific research and civilian applications, unmanned surface vehicles also have broad application prospects in these fields. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 彭艳葛磊李小毛谢少荣罗均
Owner SHANGHAI UNIV
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