Collision self-avoiding method and system for unmanned ship

Abstract

The invention discloses a collision self-avoiding method and system for an unmanned ship. A given angular speed during collision avoidance is calculated according to the course angle and the sight distance angle of an unmanned ship, so that the course of the unmanned ship is changed to achieve collision avoidance. The system comprises: a tracking control unit used for tracking a known target; a signal acquisition unit used for acquiring the course angle and the sight angle of the unmanned ship; and a collision avoidance control link used for calculating a given angular speed during collision avoidance according to the acquired course angle and sight angle and controlling the course angle of the unmanned ship. According to the collision avoidance method, collision avoidance can be achievedonly by knowing the sight angle without measuring the position and speed information of the obstacle, the defect that a large amount of information of a collision avoidance object needs to be collected in a traditional collision avoidance method is overcome, and the cost can be saved in practical application.

Description

Technical field [0001] The present invention relates to the field of unmanned ship control, and in particular to a method and system for self-evasion of unmanned ships relative to moving obstacles. Background technique [0002] The exploration, development and utilization of marine resources are increasingly becoming the focus of attention of all countries. Unmanned ships have the characteristics of miniaturization, light weight, and autonomy. They are important tools for exploring, developing and protecting marine resources. Usually manually controlled ships can avoid fixed or moving obstacles, but unmanned ships need to rely on their own automatic control systems to avoid obstacles in a dynamic and unpredictable environment to ensure their own safety. Therefore, how to deal with the problem of obstacle avoidance and collision avoidance of unmanned ships in critical situations has become a key direction in the research of unmanned ships. [0003] In the research on collision avo...

AI Technical Summary

Problems solved by technology

Rodriguez Seda proposed a collision avoidance algorithm based on Lyapunov analysis. Its shortcoming is that the unmanned ship needs to be equipped with sensors to measure the position of obstacles; Provides a lot of accurate information about the obstacle, such as its position, velocity, etc., but the disadvantage of this method is that the sensing system is usually expensive, large and heavy

Queensland University of Technology Degen proposed a collision avoidance system based on reactive images. The disadvantage is that images related to the movement of obstacles need to be obtained by specific equipment; Sharma proposed a collision avoidance strategy using pure azimuth measurement, which uses pure azimuth measurement to avoid Open obstacles, the disadvantage is that it is only applicable when the obstacles are stationary

[0004] From the perspective of controller design, the existing unmanned ship collision avoidance control methods still have the following deficiencies: First, the existing unmanned ship collision avoidance control methods mostly rely on the position and speed information of moving obstacles, while in practice This information is often difficult to directly measure

Second, most of the existing research on collision avoidance control for unmanned ships focuses on static obstacles, while there are dynamic obstacles such as passing ships in the actual ocean.

Third, most of the existing research on collision avoidance control of unmanned ships relies on a specific control algorithm, and the calculation is relatively complicated

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