Sonar-based improved fuzzy artificial potential field unmanned ship obstacle avoidance method

Abstract

The invention provides a sonar-based improved fuzzy artificial potential field unmanned ship obstacle avoidance method and belongs to the technical field of unmanned underwater vehicles. According tothe prior art, an unmanned underwater vehicle adopts a traditional artificial potential field obstacle avoidance method, and as a result, the unmanned underwater vehicle fails to arrive at a target, and the problem of local minimum values will be brought about. The invention aims to eliminate the above defect and solve the problem in the prior art. The method comprises the following steps that: the data of the upper computer of a ground station are initialized; the position information of an obstacle surrounding an unmanned ship is acquired through a sonar ranging module; the minimum course angle of a combined potential field is calculated based on an improved artificial potential field algorithm; on the basis of the improved artificial potential field algorithm, a two-dimensional fuzzy control module is constructed through a triangular membership function, so that the next position of the unmanned ship can be determined. The method has the advantages of simplicity, high practicabilityand wide application. A TriTech micromachine is adopted to scan sonar detection obstacles, so that the method further has the advantages of low cost and low power consumption. The method is based onthe artificial potential field method, and the principle of the artificial potential field method is simple and easy to understand; and after fuzzy control is adopted, the course angle change of the unmanned ship tends to be smooth.

Description

technical field [0001] The invention relates to the technical field of unmanned underwater vehicles, in particular to an improved sonar-based fuzzy artificial potential field unmanned vessel obstacle avoidance method. Background technique [0002] The traditional artificial potential field obstacle avoidance method adopted by surface unmanned ships is: construct an artificial potential field including gravitational field and repulsive field in the sea environment where surface unmanned ships sail, and provide the gravitational field by the target point of navigation, The repulsion field is provided by the obstacles on the sea surface, so that the gravitational and repulsive forces acting on the unmanned ship form a resultant force, guiding the target course of the unmanned ship and moving towards the target point. Due to its simple principle, small amount of calculation, and good real-time performance, the artificial potential field method is currently widely used in the pat...

AI Technical Summary

Problems solved by technology

However, when the obstacle is located between the current position of the unmanned ship and the line connecting the target point, or the unmanned ship is affected by the repulsive force of multiple obstacles so that the repulsive force it receives is equal to the gravitational force and the direction is opposite, the unmanned ship will fall into a local minimum value point, it is impossible to judge how to move in the next step, resulting in stopping or wandering at this point, that is, there is a problem of falling into a local minimum point; when the unmanned ship is getting closer and closer to the target point, according to the traditional artificial potential field gravity It can be seen from the repulsion formula that the gravitational force of the target point is getting smaller and smaller, so if the unmanned ship passes through obstacles when it is closer to the target point, the repulsive force it receives will be much greater than the gravitational force of the target point, making it impossible for the unmanned ship to reach End point, that is, there is a target unreachable problem

Images