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Natural energy driven unmanned ship route real-time optimization method considering wave propulsion and navigation method

An unmanned boat and natural energy technology, which can be used in propulsion-based emission reduction, two-dimensional position/channel control, non-electric variable control, etc., and can solve problems such as inapplicability

Active Publication Date: 2021-01-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, some path planning methods of wave glider are not suitable for natural energy-driven unmanned boats

Method used

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  • Natural energy driven unmanned ship route real-time optimization method considering wave propulsion and navigation method
  • Natural energy driven unmanned ship route real-time optimization method considering wave propulsion and navigation method
  • Natural energy driven unmanned ship route real-time optimization method considering wave propulsion and navigation method

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specific Embodiment approach 1

[0036] Specific implementation mode one: refer to figure 2 and image 3 Specifically illustrate the present embodiment, the real-time route optimization method of the natural energy driving unmanned boat considering wave propulsion described in the present embodiment is as follows:

[0037] During the voyage of the unmanned boat, the bow is calculated as 0 degrees, the wave encounter angle α in the interval of clockwise rotation to 180 degrees is 0 to -180 degrees (not including 180 degrees), and the wave encounter angle α in the interval of counterclockwise rotation to 180 degrees The encounter angle α is 0 to 180 degrees (including 180 degrees). Among them, when α∈(-90, 90), it is called a straight wave; when α∈(-90,-180)∪(90,180], it is called a top wave; when α=90, it is called a cross wave.

[0038] When α=90, the unmanned boat encounters a transverse wave, the direction of the wave is perpendicular to the forward direction of the unmanned boat, and the thrust cannot b...

specific Embodiment approach 2

[0047] Specific implementation mode two: refer to the figure figure 1 , figure 2 and image 3 Specifically illustrate this embodiment, the navigating method of the natural energy-driven unmanned boat that considers wave propulsion described in this embodiment, comprises the following steps:

[0048] Step 1: Under the condition of using natural energy to drive the unmanned vessel, plan the offline path of the unmanned vessel on the grid map according to the mission requirements and the capture requirements of the energy system, and obtain the discrete navigation in the offline path. trace point. Among them, there are no obstacles between track points and the unmanned boat can pass through each track point. Let i be the serial number of each track point and the initial value of i is 0.

[0049] Step 2: Use natural energy to drive the unmanned boat to sail from the i-th track point to the i+1-th track point, and at the same time collect the wave environment near the i-th trac...

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Abstract

The invention discloses a natural energy driven unmanned ship route real-time optimization method considering wave propulsion and a navigation method, and relates to the field of path planning of marine aircrafts. The invention aims to optimize the course between nodes among track points of the original planned course of the natural energy driven unmanned ship according to the wave environment andthe planned course. According to the natural energy driven unmanned ship real-time route optimization method considering wave propulsion and the navigation method, the ship-borne sensor is used for sensing the wave environment, the navigation method in a small range is guided in real time, the real-time dynamic performance is high, and the engineering requirements can be better met. Meanwhile, bymeans of the route correction method, it is guaranteed that the unmanned ship can reach each task node, it can be guaranteed that the wave energy capture capacity between the nodes is improved, and the endurance of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of path planning, in particular to the path planning of marine vehicles. Background technique [0002] Energy capture is very important for ocean vehicles that require long self-sustainability. Only by increasing the ability to capture external energy as much as possible can we effectively realize tasks such as monitoring and surveying in the ocean. At present, in practical engineering applications, different marine vehicles use different marine environmental energy sources, mainly focusing on solar energy, wave energy, wind energy, and temperature difference energy. At present, wave energy is one of the main sources of energy acquisition for marine structures on the water surface. Wave energy refers to the kinetic energy and potential energy of waves formed by the surface seawater of the ocean under the action of sea wind. Wave energy appears in the form of mechanical energy. Yang Canjun pointed out in "A...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T70/5236
Inventor 贾琪廖煜雷庞硕李晔初昀
Owner HARBIN ENG UNIV
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