CN108445894A - A kind of secondary paths planning method considering unmanned boat movenent performance - Google Patents
A kind of secondary paths planning method considering unmanned boat movenent performance Download PDFInfo
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Abstract
The invention belongs to unmanned boat path planning fields, disclose a kind of secondary paths planning method considering unmanned boat movenent performance, comprise the following steps：Step (1)：The revolution curvature of unmanned water surface ship is determined by the permanent turning test of unmanned boat or maneuverability l-G simulation test；Step (2)：Path planning of unmanned boat is carried out, an optimal path point set p is obtained；Step (3)：The turnability moved according to an optimal path point set p and unmanned surface vehicle obtains the optimal path p in unmanned boat motion range ability with secondary paths planning method2.The present invention is by analyzing unmanned boat gyroscopic characteristics, secondary path planning is carried out, under the premise of having optimal path, calculates an optimal path for meeting unmanned boat actual motion characteristic, efficiency and performance are taken into account simultaneously, there is marked improvement in terms of reducing detour walking along the street and optimizing hours underway.
Description
Technical field
The invention belongs to unmanned boat path planning field more particularly to a kind of secondary paths considering unmanned boat movenent performance
Planing method.
Background technology
Unmanned water surface ship is a kind of unattended surface ship.It is mainly used for executing danger and is unsuitable for someone's ship
Only carrying out for task.After being equipped with advanced control system, sensing system, communication system and weapon system, it can execute
A variety of wars and non-war operations task, for example, scouting, search, detecting and remove mines；It searches and rescues, navigation and hydro_geography are reconnoitred；Instead
Latent operation, anti-special operations and patrol, strike pirate, anti-terrorism attack etc..Field, the U.S. are researched and developed and use in unmanned water surface ship
It is constantly in leading position with Israel.Current each state all competitively develops unmanned boat, and the well-known unit of domestic contrast includes Hai Lan
Letter, Harbin Engineering University, 701 institute of middle ship heavy industry, 707 institute of middle ship heavy industry, Chinese Academy of Sciences's Shenyang Institute of Automation, Beijing orientation intelligence
Systems technology Co., Ltd etc., unmanned boat family are growing stronger day by day.And the key problem that path planning is studied as unmanned boat,
Represent the height of unmanned boat intelligent level to a certain extent.USV path planning exemplary process mainly has Artificial Potential Field
Method, genetic algorithm, artificial neural network, quick random search tree algorithm.Local space can only be solved using Artificial Potential Field Method
Avoidance problem, it lacks global information, it is easy to be absorbed in local minimum, cause to generate the path for vibrating or stagnating；It loses
Propagation algorithm is poor to the exploring ability in new space, it is more difficult to construct suitable fitness function, and be easier to converge to locally optimal solution；
Representative training sample is obtained using artificial neural network is more difficult, is not easy to realize in the working space of USV complexity；
The randomness of RRT algorithms cause result can only probability it is complete, in USV dynamic jobs space the algorithm deficient in stability and easily occur
Deviate optimal path.
But there are some defects in above-mentioned unmanned boat paths planning method, the optimal point set gone out with a path planning is
It is resolved based on the most short standard of distance, the result obtained mostly regards unmanned boat as particle, and ignores the mobility of unmanned boat
Energy turnability causes drive lacking unmanned boat that can not track the path node that curvature is larger than own body movenent performance limitation.
In practical engineering application, in tracking programme path detour or the unreachable phenomenon of path point can occur for unmanned boat, to increase nothing
People's ship task execution difficulty.
Jiangsu University of Science and Technology Liu builds, the paper delivered《The research of unmanned surface vehicle Path Planning Technique》Potential field method will be improved
It is combined with dynamic grids algorithm, devises a kind of potential field dynamic grids algorithm, environment is established by way of refining grid dynamic
Model searches for optimal path using potential field method is improved, and reduces extra path point by reducing broken line, is finally reached path
The purpose of optimization.Central China University of Science and Technology Wang Wei is red etc., the paper delivered《Mobile robot path rule based on smooth A* algorithms
It draws》It proposes in the path basis of A* algorithmic rules, all nodes in traverse path, before and after a certain node on node line
When accessible, this intermediate node of extension wire is rejected, smooth effect is finally reached.
Application No. is 201410022398.9 patent disclose a kind of water surface based on neighborhood intelligent water drop algorithm nobody
Ship paths planning method, including：(1) environmental modeling is carried out to unmanned surface vehicle path planning；(2) intelligent water drop algorithm root is utilized
According to known unmanned surface vehicle operating area static-obstacle thing, traveling target and path evaluation function in the grid battle array of operating area
Offline global path planning is carried out, global offline optimal path is obtained.
The above method has result randomness by reducing the broken line of planning path to reduce excess path, in practical ocean
Poor availability in environment, and it can not be included in the real navigation capacity adjusting of surface ship, it is larger by being limited.
Invention content
Meet ship movenent performance demand, a kind of strong consideration unmanned boat movement of availability it is an object of the invention to open
The secondary paths planning method of performance.
The object of the present invention is achieved like this：
A kind of secondary paths planning method considering unmanned boat movenent performance, comprises the following steps：
Step (1)：Determine that the revolution of unmanned water surface ship is bent by the permanent turning test of unmanned boat or maneuverability l-G simulation test
Rate；
Step (2)：Path planning of unmanned boat is carried out, an optimal path point set p is obtained：
With unmanned surface vehicle paths planning method, it is known that starting point ps=(xs,ys), target point pt=(xt,yt), n
Barrier coordinate set po={ po1,...,poi,...,pon, i-th of obstacle article coordinate poi=(xoi,yoi), i=1...n；
To an optimal path point set p={ p1,...,pj,...,pm, m is the number of an optimal path point centrostigma；p1=ps,pm
=pt, j=1...m.
Step (3)：The secondary path planning of turnability moved according to an optimal path point set p and unmanned surface vehicle
Method obtains the optimal path p in unmanned boat motion range ability2：
The starting point for retaining an optimal path point set p, from second path point of an optimal path point set p backward according to
It is secondary to test, terminate to path termination：The path point examined is current trial point, if with current trial point, currently
The latter path point of previous path point and the current trial point of check point is the circumscribed circle curvature of the triangle of vertex composition
Less than the revolution curvature of unmanned water surface ship, retain current trial point；Otherwise current trial point is given up, examines the latter path
Point.Finally obtain the optimal path p in unmanned boat motion range ability2={ p21,...,p2k,...p2l, l moves for unmanned boat
The number at the optimal path midpoint in range capability；p21=ps,p2l=pt, l≤m, k=1...l.
Beneficial effects of the present invention are：
The present invention carries out secondary path planning, under the premise of having optimal path, solves by analyzing unmanned boat gyroscopic characteristics
It calculates one and meets the optimal path of unmanned boat actual motion characteristic, while taking into account efficiency and performance, reducing detour walking along the street simultaneously
There is marked improvement in terms of optimizing hours underway.
Description of the drawings
Fig. 1 is a kind of secondary paths planning method flow chart considering unmanned boat movenent performance；
Fig. 2 is a kind of secondary paths planning method path schematic diagram considering unmanned boat movenent performance.
Specific implementation mode
Further describe the present invention below in conjunction with the accompanying drawings：
Such as Fig. 1, a kind of secondary paths planning method considering unmanned boat movenent performance comprises the following steps：
Step (1)：Determine that the revolution of unmanned water surface ship is bent by the permanent turning test of unmanned boat or maneuverability l-G simulation test
Rate；
When unmanned boat rotary motion, the track of ship center of gravity is known as turning circle, and the radius of turning circle is radius of gyration R.Revolution
Radius can be found out based on the permanent turning test of unmanned boat, and rudder is turned to certain rudder angle and is remained unchanged, at this moment ship will deviate from
Curvilinear motion is done in former air route, and the radius of permanent revolution curve is the radius of gyration.Or it is found out by maneuverability l-G simulation test.So
The revolution curvature of unmanned water surface ship can be found out afterwards.
Step (2)：Path planning of unmanned boat is carried out, an optimal path point set p is obtained：
Paths planning method includes but not limited to Artificial Potential Field Method, genetic algorithm, A* algorithms, with unmanned surface vehicle
Paths planning method, it is known that starting point ps=(xs,ys, target point pt=(xt,yt, n barrier coordinate setI-th of obstacle article coordinate poi=(xoi,yoi), i=1...n；Obtain an optimal path point set
P={ p1,...,pj,...,pm, m is the number of an optimal path point centrostigma；p1=ps,pm=pt, j=1...m.
Step (3)：The secondary path planning of turnability moved according to an optimal path point set p and unmanned surface vehicle
Method obtains the optimal path p in unmanned boat motion range ability2：
Such as Fig. 2, retain the starting point of an optimal path point set p, from second path point of an optimal path point set p
It tests, terminates to path termination successively backward：The path point examined is current trial point, if with current trial
Point, the previous path point of current trial point and the latter path point of current trial point are the external of the triangle of vertex composition
Circle curvature is less than the revolution curvature of unmanned water surface ship, retains current trial point；Otherwise current trial point is given up, examines the latter
Path point.Finally obtain the optimal path p in unmanned boat motion range ability2={ p21,...,p2k,...p2l, l is unmanned boat
The number at the optimal path midpoint in motion range ability；p21=ps,p2l=pt, l≤m, k=1...l.
The method for solving the triangle circumscribed circle curvature formed using three path points as vertex is as follows：
In above formula, A, B, C are respectively check point and the vertex of a triangle that its front and back node is vertex composition, and a, b, c divide
Not Wei triangle the length of side, r be triangle circumradius, K be triangle circumscribed circle curvature.
Compared with prior art, the present invention carries out secondary path planning, is having most by analyzing unmanned boat gyroscopic characteristics
Under the premise of shortest path, calculates one and meet the optimal path of unmanned boat actual motion characteristic, while taking into account efficiency and performance,
It reduces detour walking along the street and there is marked improvement in terms of optimizing hours underway so that the exploitativeness of original path planning increases.
The above is not intended to restrict the invention, and for those skilled in the art, the present invention can have various
Change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (3)
1. a kind of secondary paths planning method considering unmanned boat movenent performance, it is characterised in that：It comprises the following steps：
Step (1)：The revolution curvature of unmanned water surface ship is determined by the permanent turning test of unmanned boat or maneuverability l-G simulation test；
Step (2)：Path planning of unmanned boat is carried out, an optimal path point set p is obtained；
Step (3)：The secondary paths planning method of turnability moved according to an optimal path point set p and unmanned surface vehicle
Obtain the optimal path p in unmanned boat motion range ability2。
2. a kind of secondary paths planning method considering unmanned boat movenent performance according to claim 1, it is characterised in that：
The step (2) is specially：
With unmanned surface vehicle paths planning method, it is known that starting point ps=(xs,ys), target point pt=(xt,yt), n obstacle
Article coordinate set po={ po1,...,poi,...,pon, i-th of obstacle article coordinate poi=(xoi,yoi), i=1...n；Obtain one
Suboptimum path point set p={ p1,...,pj,...,pm, m is the number of an optimal path point centrostigma；p1=ps,pm=
pt, j=1...m.
3. a kind of secondary paths planning method considering unmanned boat movenent performance according to claim 1, it is characterised in that：
The step (3) is specially：
The starting point for retaining an optimal path point set p, from second path point of an optimal path point set p backward successively into
Performing check terminates to path termination：The path point examined is current trial point, if with current trial point, current trial
The previous path point of point and the latter path point of current trial point are that the circumscribed circle curvature of the triangle of vertex composition is less than
The revolution curvature of unmanned water surface ship retains current trial point；Otherwise current trial point is given up, examines the latter path point；Most
The optimal path p in unmanned boat motion range ability is obtained afterwards2={ p21,...,p2k,...p2l, l is unmanned boat motion range
The number at the optimal path midpoint in ability；p21=ps,p2l=pt, l≤m, k=1...l.
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Cited By (4)
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| CN109116849A (en) * | 2018-09-01 | 2019-01-01 | 哈尔滨工程大学 | A kind of kernel action amalgamation method for on-line optimization considering unmanned boat movenent performance |
| CN109240288A (en) * | 2018-08-31 | 2019-01-18 | 武汉理工大学 | Unmanned boat collision prevention paths planning method in the case of a kind of barrier based on trajectory unit |
| CN110906935A (en) * | 2019-12-13 | 2020-03-24 | 河海大学常州校区 | Unmanned ship path planning method |
| CN112113573A (en) * | 2020-09-18 | 2020-12-22 | 武汉理工大学 | Planning method for coverage path of single unmanned measurement boat |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109240288A (en) * | 2018-08-31 | 2019-01-18 | 武汉理工大学 | Unmanned boat collision prevention paths planning method in the case of a kind of barrier based on trajectory unit |
| CN109116849A (en) * | 2018-09-01 | 2019-01-01 | 哈尔滨工程大学 | A kind of kernel action amalgamation method for on-line optimization considering unmanned boat movenent performance |
| CN110906935A (en) * | 2019-12-13 | 2020-03-24 | 河海大学常州校区 | Unmanned ship path planning method |
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| CN112113573A (en) * | 2020-09-18 | 2020-12-22 | 武汉理工大学 | Planning method for coverage path of single unmanned measurement boat |
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Application publication date: 20180824 |