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Water surface unmanned ship collision avoidance method based on ship domain model

A technology in the field of ships and unmanned boats, which is applied in the field of collision avoidance of unmanned boats on the water surface, can solve complex problems, and achieve the effect of improving the degree of regulation and safety

Inactive Publication Date: 2020-05-15
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Among them, local collision avoidance needs to consider the relative position relationship between other ships and obstacles near the own ship / boat, and take collision avoidance actions, so it is more complicated

Method used

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  • Water surface unmanned ship collision avoidance method based on ship domain model
  • Water surface unmanned ship collision avoidance method based on ship domain model
  • Water surface unmanned ship collision avoidance method based on ship domain model

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Embodiment Construction

[0023] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments. figure 1 It is a flow chart of the method for avoiding collisions of surface unmanned boats based on the ship field of the present invention, and the specific process is:

[0024] Step 1. Construction of the domain model of the surface unmanned vehicle;

[0025] Furthermore, the ship domain model is an approximately elliptical area, but the lengths of the front, rear, left, and right semi-axes of the model are not completely consistent according to the requirements in collision avoidance. The advance distance of the surface unmanned boat (the longitudinal movement distance of the center of gravity of the unmanned boat when the heading angle changes by 90°, generally represented by Ad) is taken as the unit. Since the unmanned surface vehicle mainly turns to the right during the collision avoidance process,...

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Abstract

The invention relates to the technical field of unmanned ships, in particular to a water surface unmanned ship collision avoidance method based on a ship domain model, which comprises the following steps: constructing a water surface unmanned ship ship domain model; sensing the situation in the navigation domain model; planning a navigation path according to an international collision avoidance rule; taking collision avoidance measures, and enabling the unmanned surface vehicle to sail according to the planned path to avoid other ships or obstacles; judging whether collision is completely avoided or not, and if not, conducting situation awareness in the field model in navigation again, and conducting subsequent steps; and if so, completing the collision avoidance action. According to the method, the ship domain model of the unmanned surface vehicle is constructed, and the key problem that when the unmanned surface vehicle starts collision avoidance action is solved. The invention further provides a path planning and collision avoidance method for the unmanned surface vehicle according to the international maritime collision avoidance rule. And the standard degree and safety of navigation of the unmanned surface vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of unmanned boats, in particular to a collision avoidance method for surface unmanned boats based on a ship domain model. Background technique [0002] Unmanned Surface Vehicles (USV) is a platform that can independently complete tasks in oceans, rivers and other environments, and is the most important embodiment of the application of autonomous driving technology in water surface environments. USV has the advantages of strong maneuverability, convenient deployment, wide coverage and low cost. At the same time, due to the non-manned characteristics, the surface unmanned vehicle can adapt to a more dangerous working environment and operate in some scenes that humans cannot reach. Therefore, the surface unmanned vehicle has a very broad application prospect. [0003] Ship Safety Domain (Ship Safety Domain SSD) refers to an area that is not violated by other ships and obstacles in the front, rear, left, and ri...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 张安民周健丁峰张豪张佳丽
Owner TIANJIN UNIV
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