Collision avoidance decision-making method based on water surface unmanned ship

Abstract

The invention relates to a collision avoidance decision-making method based on a water surface unmanned ship. The collision avoidance decision-making method comprises the following steps: detecting and collecting each target in real time by using a sensing system of the water surface unmanned ship; analyzing the meeting situation, and judging whether a collision risk exists or not; calculating feasible collision avoidance measures for each target with the collision danger; fusing the similar collision avoidance measures, and obtaining the optimal solution of the various collision avoidance measures; establishing a collision avoidance decision risk assessment model, and calculating the risk values of the optimal solutions of various collision avoidance measures; and selecting an optimal collision avoidance scheme according to the calculated risk value, outputting the optimal collision avoidance scheme to an execution system, and updating in real time until the collision avoidance process is completed. The collision avoidance decision-making method is reasonable in design, and can carry out risk coefficient resolving and comparison on various feasible collision avoidance action schemes in real time, so as to obtain a collision avoidance decision scheme with the minimum risk coefficient and provide the collision avoidance decision scheme for the water surface unmanned ship, so that the rapid and safe obstacle avoidance function of the unmanned ship is achieved, and navigation safety of the unmanned ship is guaranteed, and the collision avoidance decision-making method is simple and easy to achieve.

Description

technical field [0001] The invention belongs to the technical field of navigation and navigation, in particular to a collision avoidance decision-making method based on a surface unmanned boat. Background technique [0002] Due to the advantages of small size, fast speed, high autonomy, no casualties, and a wide range of activities, the surface unmanned vehicle can independently perform tasks in dangerous areas or areas where manned ships are not suitable, expanding maritime applications. range, with good cost performance, and thus more and more attention by many countries. [0003] In the complex and changeable marine environment, an important prerequisite for the safe navigation of the surface unmanned vehicle and the smooth completion of various tasks is that the surface unmanned vehicle can realize the function of autonomous collision avoidance. As one of the core technologies in the research of surface unmanned vehicles, the autonomous collision avoidance of surface un...

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Problems solved by technology

[0004] At present, there are many solutions for the autonomous collision avoidance technology of unmanned ships, such as radar plotting method, artificial potential field method, fuzzy control, etc., but how to quantitatively evaluate the various feasible collision avoidance measures obtained in real time, so as to optimize a output for auxiliary decision-making but has always been troubled

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