A global path planning method for unmanned ships based on light reflection characteristics

A technology of global path planning and light reflection, applied in two-dimensional position/channel control and other directions, can solve problems such as inapplicability, and achieve the effect of fast convergence speed

Active Publication Date: 2021-12-14
智慧航海(青岛)科技有限公司
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Problems solved by technology

[0004] The above algorithm cannot be applied to the scene where the next step roadmap of the unmanned ship is planned within the specified time in a dynamic environment, especially the application where the unmanned ship needs to judge whether it will collide with static or dynamic obstacles within the specified time surroundings

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  • A global path planning method for unmanned ships based on light reflection characteristics
  • A global path planning method for unmanned ships based on light reflection characteristics
  • A global path planning method for unmanned ships based on light reflection characteristics

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Embodiment 2

[0120] Such as Image 6 with Figure 7 As shown, it is a signaling diagram of an unmanned ship global path planning method based on light reflection characteristics in the embodiment of the present invention, that is, this embodiment takes 20 emission rays from the starting point as an example, including the following steps:

[0121] 101. Obtain the starting point, target point, obstacle boundary, and environment boundary of the path to be planned.

[0122] 102. Acquire N emission rays with different radiation angles emitted from the starting point, and N target rays with different radiation angles emitted from the target point.

[0123] Specifically as Image 6 As shown, this step includes:

[0124] 102a. Obtain n emitted from the starting point res Emitting rays with different radiation angles.

[0125] Project n from the starting point res rays with different directions, n res is a natural number greater than 0, in this embodiment, n res for 20. Store the emitted r...

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Abstract

The invention relates to a global path planning method for unmanned ships based on light reflection characteristics, which includes: S1. Obtaining the starting point, target point and environmental information of the path to be planned; S2. Obtaining N emissions of different radiation angles emitted from the starting point. rays, and N target rays with different radiation angles emitted from the target point; S3. Based on the light reflection characteristics, perform reflection expansion processing on each emitted ray emitted from the starting point until the ray reaches the target area; S4. From the target point Start by correcting the trajectory of each ray arriving at the target area to obtain multiple corrected paths from the starting point to the target point; S5, output the shortest path among the multiple paths to obtain the planned path. The algorithm of the present invention has a fast convergence speed, can find a safe and reliable path in a short time, and can effectively and quickly find the optimal path within a specified time in a vast sea area and complex sea conditions.

Description

technical field [0001] The invention belongs to the field of path planning of unmanned ships, and in particular relates to a method for global path planning of unmanned ships based on light reflection characteristics. Background technique [0002] The global path planning method for unmanned ships is to find a safe and feasible route from the starting point to the target point based on the known global environmental information. The safety and economy of manned ships sailing at sea. The algorithm used for unmanned ship path planning needs to meet two criteria: the shorter the convergence time, the better, and the shorter the path, the better. [0003] At present, the global path planning algorithms mainly include graph-based search algorithms, artificial potential field methods, vector field methods, probabilistic algorithms, grid-based algorithms, and algorithms that use heuristic functions to improve convergence speed, etc. The graph-based search algorithm first uses the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 王晓原夏媛媛姜雨函刘亚奇高杰唐学大朱慎超柴垒赵新越
Owner 智慧航海(青岛)科技有限公司
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