A collision self-avoidance method and system for an unmanned ship

Abstract

A self-collision avoidance method and system for an unmanned ship, which calculates a given angular velocity during collision avoidance according to the course angle and the viewing distance angle of the unmanned ship, so as to change the course of the unmanned ship to achieve collision avoidance. The system includes a tracking control unit, which is used to track known targets; a signal collection unit, which is used to collect the course angle and line-of-sight angle of the unmanned ship; and the collision avoidance control link, the collision avoidance The control link calculates a given angular velocity during collision avoidance based on the collected heading angle and line-of-sight angle and controls the heading angle of the unmanned ship. The collision avoidance method proposed by the present invention does not need to measure the position and speed information of the obstacle, but only needs to know the line of sight angle to realize collision avoidance, which not only overcomes the shortcomings of the traditional collision avoidance method that needs to collect a large amount of information on the objects to avoid collision, but also Can save cost in practical application.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a self-collision avoidance method and system for an unmanned ship relative to moving obstacles. Background technique [0002] Exploration, development and utilization of marine resources have increasingly become the focus of attention of all countries. With the characteristics of miniaturization, light weight, and autonomy, unmanned ships are important tools for exploring, developing, and protecting marine resources. Usually, man-operated ships can avoid fixed or moving obstacles, but unmanned ships need to rely on their own automatic control system to avoid obstacles and ensure their own safety in a dynamic and unpredictable environment. 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 of unmanned ship collisio...

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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