Unmanned surface vessel path planning method

Abstract

The invention provides an unmanned surface vessel path planning method, and the method comprises the steps of: S1, global path planning: generating an improved global path based on an improved RRT algorithm, optimizing the improved global path through a beetle antennae search algorithm, thus obtaining an optimal global path; the global path planning algorithm is simple, the calculated amount is small, the searching speed is high, and searching of the global optimal path can be rapidly achieved. S2, local path planning: carrying out local path planning by adopting a dynamic window method, and avoiding a situation that a target is unreachable through parameter adjustment; local path planning guarantees the running speed through dynamic parameters, and the situation that a target is unreachable is avoided. and S3, based on different dynamic obstacle meeting conditions, different collision avoidance strategies are adopted, so that the unmanned surface vessel can end the meeting situation in a short time, and then a best dynamic obstacle avoidance effect can be achieved. And a strategy of temporary obstacles and temporary target points is adopted, so that a safer and more efficient dynamic obstacle collision avoidance effect is achieved.

Description

technical field [0001] The present invention relates to the technical field of unmanned ships, in particular to a path planning method for surface unmanned ships. Background technique [0002] The surface unmanned vehicle is an important equipment for ocean development. It can realize many functions such as exploration, cruise, and measurement. It is an important equipment for the development of ocean resources. For the autonomous navigation of surface unmanned vehicles, path decision-making is an important content. A good path planning algorithm can formulate a better path, making the path loss smaller and more in line with the motion characteristics of unmanned ships. Path planning can be divided into two parts: global and local. [0003] Global path planning is to combine the existing map information to carry out path search. The existing technology is relatively mature, among which A* algorithm, grid method, Djstra algorithm, genetic algorithm, swarm intelligence algori...

AI Technical Summary

Problems solved by technology

Under the traditional dynamic window method, there will be a problem that the target cannot be reached. When the three points of the unmanned vessel, the obstacle, and the target point are collinear, the unmanned vessel will keep the current direction and continue to move forward at a low speed, and cannot automatically turn. reach target point

This problem will also occur when the unmanned boat passes between two obstacles

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