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Unmanned ship dynamic obstacle avoidance algorithm based on speed obstacle method and dynamic window method

A dynamic window and speed obstacle technology, applied in the direction of non-electric variable control, two-dimensional position/course control, vehicle position/route/height control, etc. incompletely known issues

Inactive Publication Date: 2018-10-16
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, dynamic obstacle avoidance is more difficult, because it is difficult to accurately obtain the movement information of dynamic obstacles through the sensors carried by the unmanned boat itself, and it is impossible to accurately predict the movement trend of obstacles.
Local path planning has a small amount of calculation and good real-time performance, but because the environmental information is not completely known, it is easy to fall into the minimum point

Method used

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  • Unmanned ship dynamic obstacle avoidance algorithm based on speed obstacle method and dynamic window method
  • Unmanned ship dynamic obstacle avoidance algorithm based on speed obstacle method and dynamic window method
  • Unmanned ship dynamic obstacle avoidance algorithm based on speed obstacle method and dynamic window method

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Experimental program
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Effect test

Embodiment 1

[0034] see figure 1 , figure 2 , image 3 , the unmanned vehicle dynamic obstacle avoidance algorithm based on the speed obstacle method and the dynamic window method, including the following steps:

[0035] Step 1: Obtain obstacle information, unmanned boat information, expected speed and direction;

[0036] Step 2: Obstacle handling;

[0037] Step 3: Determine whether the unmanned boat will collide with obstacles;

[0038] Step 4: Determine whether to start obstacle avoidance;

[0039] Step 5: Calculate the speed window and heading window;

[0040] Step 6: Calculate the attainable obstacle avoidance velocity vector;

[0041] Step 7: Select the optimal obstacle avoidance velocity vector;

[0042] Step 8: Determine whether the obstacle avoidance can be terminated;

[0043] Step 9: Output the initial desired speed and direction.

Embodiment 2

[0045] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0046]Obtain obstacle information, UAV information, expected speed and direction. Obtained obstacle information includes position information, size information, and motion information. The position information is represented by distance and angle in the hull coordinate system of the UAV, and the motion information is represented by speed and motion direction, and the motion direction is based on the true north direction. The obtained unmanned vehicle information includes position information, motion and attitude information. The position information is represented by (x, y) coordinates in the northeast coordinate system, and the motion information includes velocity magnitude, velocity direction, acceleration, angular velocity and angular acceleration. The attitude information is the heading angle, based on the true north direction. The desired speed and direction are giv...

Embodiment 3

[0064] The specific operation steps of the UAV dynamic obstacle avoidance algorithm based on the speed obstacle method and the dynamic window method are as follows:

[0065] Step one, such as figure 1 , Obtain obstacle information, unmanned boat information, expected speed and direction:

[0066] Obtain environmental information through the radar, vision, lidar, and sonar sensors carried by the unmanned boat itself, perform data fusion and environmental modeling to obtain the shape and position information of obstacles, and model obstacles into sizes according to the actual size of obstacles Different ellipse shapes, the shape of the obstacle is represented by the semi-major axis length and the semi-minor axis length of the ellipse, and the position information of the obstacle is represented by distance and angle in the hull coordinate system, and the distance is from the center of the unmanned vehicle to the obstacle The distance from the center, the angle is the angle of th...

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Abstract

The invention relates to an unmanned ship dynamic obstacle avoidance algorithm based on a speed obstacle method and a dynamic window method. On the basis of the speed obstacle method, the unmanned ship dynamic obstacle avoidance algorithm considers the characteristic of the ship's large length-width ratio, uses the ellipses to represent the unmanned ship and the obstacle, and gives a method for solving the ellipse tangents; considering the kinematic performance of the unmanned ship, only the speed and direction that the unmanned ship can reach in a given time is used to calculate obstacle avoidance; the starting time of obstacle avoidance is determined by comparing the time of collision with the time required for the unmanned ship to avoid the obstacle, and the obstacle avoidance is endedby determining that the unmanned ship is safely moving in the desired direction of the navigation and moving in the direction of the target point; and the virtual obstacle is added according to the speed and movement direction error of the obstacle to reduce the influence of the obstacle motion information error. The unmanned ship dynamic obstacle avoidance algorithm can ensure that the unmanned ship can effectively avoid the static and dynamic obstacles encountered during the autonomous navigation on the sea surface.

Description

technical field [0001] The patent of the present invention relates to the field of local path planning for mobile robots, specifically a dynamic obstacle avoidance algorithm for unmanned boats based on the speed obstacle method and the dynamic window method. Background technique [0002] The surface unmanned boat, referred to as unmanned boat, is a light intelligent surface vehicle with the characteristics of small size, low cost, fast speed and strong maneuverability. With the advancement of control technology, sensor technology, and wireless communication technology, surface unmanned vehicles have achieved great development. By carrying different equipment, the unmanned boat can be used in different fields. For example, when equipped with sonar equipment such as single beam, multi-beam, and shallow bottom profiler, it can be used for seabed mapping, mine detection and anti-submarine, etc.; when equipped with water quality sampling Or when testing equipment, it can be used...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 谢少荣张洋洋罗均彭艳
Owner SHANGHAI UNIV
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