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Path planning method for unmanned surface vehicle

A path planning, unmanned boat technology, applied in two-dimensional position/channel control and other directions, can solve the global planning method without dynamic obstacle avoidance ability, unable to guarantee the continuous change of the curvature of the planned path, and unfavorable control of the motion variables at the turning point and other problems, to achieve the effect of improving the search ability, optimizing the optimization ability, and weakening the local optimal problem.

Pending Publication Date: 2022-08-02
HARBIN ENG UNIV
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Problems solved by technology

[0005] The LPA* algorithm has been widely used in unmanned autonomous path planning, but due to the continuous problem of path curvature, the motion variable at the turning point is not conducive to control; and the global planning method does not have the ability of dynamic obstacle avoidance
The A* algorithm based on the particle swarm optimization algorithm enhances the local obstacle avoidance ability, but the calculation complexity is large, and the curvature of the planned path cannot be guaranteed to change continuously

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  • Path planning method for unmanned surface vehicle
  • Path planning method for unmanned surface vehicle
  • Path planning method for unmanned surface vehicle

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[0047] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0048] In conjunction with the accompanying drawings, the steps of the present invention are as follows:

[0049] Step 1: Obtain the global remote sensing image of the water surface environment through the aerial photographic image of the aircraft, so as to classify and binarize the aerial photographic image, and convert the image into a two-dimensional grid map.

[0050] The specific steps are as follows: firstly obtain the aerial image, and perform image cutting and binarization processing on it; classify the processed binary image, and cut the binary image into grids of equal size at equal intervals, according to each grid. The proportion of black and white blocks in the grid takes the binary color block (ie 0, 1) to obtain a two-dimensional grid matrix D n×n , set the environmental obstacle part as a black grid, set the water surfa...

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Abstract

The invention provides an unmanned surface vehicle path planning method which is an unmanned surface vehicle path planning method based on a dynamic window method and an optimized LPA * algorithm in an environment with moving obstacles. The method comprises the following steps: obtaining a global remote sensing image of a water surface environment through aerial photography of an aircraft, carrying out classification and binarization processing on the aerial photography image, converting the image into a grid map, carrying out global path planning by utilizing an LPA * algorithm of an optimized distance heuristic function based on the global grid map of the environment to obtain an initial path, and carrying out interpolation smoothing processing on the path; and based on a dynamic window method, constructing an evaluation function with a globally optimal path, and performing local path dynamic planning to achieve a local dynamic planning capability on the premise of the globally optimal path. Simulation results show that the method can obtain a smooth path better than a traditional heuristic A * algorithm, and can also realize good obstacle avoidance performance in a moving obstacle environment; moreover, the method is integrated with the structure of an LPA * global programming algorithm, and overcomes the defect that a dynamic window method is liable to fall into local optimum.

Description

technical field [0001] The application field of the invention is mainly in the water surface path planning and obstacle avoidance of multi-reef autonomous cruise and intensive ship navigation. Background technique [0002] The autonomous navigation and obstacle avoidance of single-surface UAVs has always been one of the hot research topics in the field of UAVs. How to carry out safe and efficient autonomous navigation on the waters covered with reefs or other obstacles and the intensive navigation of ships is an important research direction in the research content of autonomous ship technology currently under development. Nowadays, the degree of intelligence of unmanned systems is getting higher and higher, and the requirements for the adaptability of autonomous navigation in complex environments are also enhanced. When sailing in a dynamic environment, how to plan the optimal path is also important for the navigation efficiency and safety of unmanned ships. Great test. Th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 张兰勇王天靖阳定康常佳程谭逸凡
Owner HARBIN ENG UNIV
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