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Ship dynamic obstacle avoidance optimization method and system in uncertain environment

A technology of dynamic obstacle avoidance and optimization method, applied in the direction of control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as failure of obstacle avoidance, and achieve the effect of ensuring absolute safety

Active Publication Date: 2020-08-04
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] According to the above-mentioned technical problem that the traditional artificial potential field method falls into a local minimum in the process of ship dynamic obstacle avoidance in an uncertain environment, resulting in the failure of obstacle avoidance, an optimization method for ship dynamic obstacle avoidance in an uncertain environment is provided.

Method used

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  • Ship dynamic obstacle avoidance optimization method and system in uncertain environment
  • Ship dynamic obstacle avoidance optimization method and system in uncertain environment
  • Ship dynamic obstacle avoidance optimization method and system in uncertain environment

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Embodiment 1

[0035] Such as image 3 As shown, the present embodiment provides a dynamic obstacle avoidance method for a ship in an uncertain environment, and its solution mainly includes the following parts:

[0036] (1) Collect data

[0037] First of all, it is necessary to collect all kinds of data required for obstacle avoidance during ship navigation in real time through various sensing devices, and store the collected data in the database. The data to be collected mainly includes: 1) information on various obstacles (including sudden obstacles) perceived during the ship’s navigation, including obstacle latitude and longitude information, range size, trajectory, etc.; dynamic data. And store all kinds of data collected in the database.

[0038] (2) Determine the range of the coordinate interval

[0039] It is used to determine the scope of the safe navigation area of ​​the ship. Analyze the data of own ship, target point, and multiple obstacles at the current moment, coordinate c...

Embodiment 2

[0052] Another aspect of the embodiments of the present invention also provides a ship dynamic obstacle avoidance optimization system in an uncertain environment, including a judgment unit, a temporary guidance unit and a guidance unit.

[0053] The judging unit is mainly used to judge whether the current position of the ship falls into a local minimum.

[0054] The temporary guidance unit is mainly used to update the original target point to a temporary target point after determining that the current position of the ship falls into a local minimum, and guide the ship forward. After the ship travels to a new position, cancel the temporary target point and restore the original target point. The temporary target point is obtained according to the positions of the two obstacles closest to the position of the ship. Specifically, the step of obtaining the temporary target point by the temporary guidance unit includes: taking the midpoint of the two obstacles closest to the positio...

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Abstract

The invention provides a ship dynamic obstacle avoidance optimization method and system in an uncertain environment. The method comprises the steps that whether the current position of a ship is caught in a local minimum value or not is judged; if so, an original target point is updated into a temporary target point, and the ship is guided to advance, wherein the temporary target point is obtainedaccording to the positions of two obstacles closest to the position of the ship; after the ship travels to a new position, the temporary target point is revoked, the original target point is restored, and the ship is guided to advance. According to the method, the real-time dynamic uncertain environmental influence can be considered in the ship running process, the potential field is updated by obtaining the real-time data, so that the real-time obstacle avoidance effect is achieved. When the method is used for ship dynamic obstacle avoidance, the safety of ship driving can be improved, and the probability of collision accidents between offshore ships and obstacles is reduced.

Description

technical field [0001] The present invention relates to the field of ship dynamic obstacle avoidance, in particular to an optimization method and system for ship dynamic obstacle avoidance in an uncertain environment. Background technique [0002] Today's global trade is booming, and a transportation mode dominated by maritime transportation has gradually formed. Followed by the expansion of the scope of navigation, the increase of new routes, and the frequent occurrence of ship navigation safety accidents caused by the uncertain environment of maritime navigation. A large number of accident cases show that the main cause of marine safety accidents is the collision between ships and obstacles. The reason is that, on the one hand, there are cases where the ship does not detect sudden obstacles during navigation. On the other hand, even if a sudden obstacle is detected, the uncertainty of the environment increases due to its moving direction and speed are constantly changing...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 张秀国张英俊李承泽郑易松郭嗣彧
Owner DALIAN MARITIME UNIVERSITY
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