Intelligent naval ship automatic cruise simulation method

A technology of automatic cruise and simulation, applied in the field of data processing, can solve problems such as poor simulation effect

Inactive Publication Date: 2019-07-05
ZHONGKE HENGYUN CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] The purpose of the present invention is to aim at the disadvantages of the prior art, to provide a kind of simulation method of intelligent ship automatic cruise simulation, to solve the problem that the overall simulation effect of the existing ship automatic cruise simulation method is not good, and to realize the simulation method based on dynamics in the virtual environment. single or multi-vessel automatic cruise

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Embodiment Construction

[0020] The present invention adopts equipment: 1 computer with a high-performance graphics card, which is required to be configured as: CPU Core i5-8400 and above, graphics card nVIDIA GTX1070Ti and above, memory 16GB DDR4 2666MHz and above.

[0021] The software that the present invention adopts: three-dimensional engine: Unigine

[0022] According to the environment modeling accuracy, the present invention can select PID control or fuzzy self-tuning PID control method for cruise control, and realize multi-ship cooperative cruise and automatic obstacle avoidance through the artificial potential energy field method, so that the ship can accurately and quickly navigate to the target, And automatically avoid obstacles and avoid collisions with each other.

[0023] PID control method:

[0024] In the case that the environment modeling is relatively simple and the control accuracy is not high, the cruise control of the ship is carried out using the classic PID controller. The ba...

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Abstract

The invention discloses an intelligent naval ship automatic cruise simulation method. The intelligent naval ship automatic cruise simulation method is characterized by regarding a ship as a mass pointand placing the ship into a virtual force field, setting a cruise target position to be a lowest potential energy point in the virtual force field, setting an obstacle position to be a highest potential energy point, calculating a gradient of a gravitational potential function of the ship position, regarding the gradient as an input signal of a ship control system, calculating an obstacle repulsive force potential energy field gradient to obtain an obstacle repulsive force applied to the ship, utilizing a resultant force of gravitation and the repulsive force to calculate acceleration of theship in the virtual force field, and mapping the acceleration into a virtual environment as an input signal of the ship control system, thereby realizing cruise of the ship in the virtual environment.The intelligent naval ship automatic cruise simulation method realizes automatic obstacle avoidance of the ship by adopting an artificial potential energy field method, enables the ship to sail to the target position quickly and precisely while avoiding the obstacle, makes the entire simulation process in line with th physical law without specifying a route in advance, thereby realizing the single-ship or multi-ship automatic cruise in the virtual environment.

Description

technical field [0001] The invention relates to a simulation method for automatic cruising of an intelligent ship, which belongs to the technical field of data processing. Background technique [0002] At present, the automatic cruise of ships in the Unigine environment does not use a control system, and is only simulated by a simple course offset or a fixed trajectory that does not follow the dynamics. There are problems such as poor control accuracy and trajectory distortion. When multiple ships are cruising, using the existing course offset method will frequently cause ship collision problems, and obstacles cannot be avoided automatically. However, the use of the existing fixed trajectory navigation method lacks a theoretical basis for dynamics, and the navigation trajectory does not conform to the laws of physics, and it is necessary to specify a trajectory for each ship, which is complicated to use and the simulation effect is distorted. In short, the existing ship aut...

Claims

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Application Information

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IPC IPC(8): G05B17/02G05B11/42G05B13/04G05B13/02G05D1/02
CPCG05B17/02G05B11/42G05B13/042G05B13/028G05D1/0206G05D1/0088
Inventor 吴又奎王毅刚曹心宇杨柳
Owner ZHONGKE HENGYUN CO LTD
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