CN110471427B - Intelligent ship formation collision avoidance method based on path planning and artificial potential field method - Google Patents
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Abstract
The invention provides an intelligent ship formation collision prevention method based on path planning and an artificial potential field method, belongs to the technical field of information technology and ship formation distributed control, and aims to solve the technical problems of the conventional artificial potential field. The navigation safety information of the ship is obtained through equipment such as an automatic ship identification system, a global positioning system and the like. And when the distance between the ships in the formation or the distance between the ships and the obstacles is smaller than the corresponding safe distance, triggering an anti-collision or obstacle-avoiding artificial potential field, and tracking the composite torque with the ship path by the repulsive force of the artificial potential field to control the course and the navigational speed of the ship. The invention combines the path planning with the artificial potential field method, fully utilizes the global information and the real-time local information of the ship navigation, and realizes the intelligent navigation and collision avoidance control of the ship.
Description
Technical Field
The invention relates to the technical field of information technology and ship formation distributed control, in particular to an intelligent ship formation collision prevention method based on path planning and an artificial potential field method.
Background
With the development of artificial intelligence technology and computer technology, the sensing capability of ships and the computing capability of ship controllers are rapidly improved, and the intelligent requirement of ships is increased. And because the operation capacity of a single ship is limited, the formation and cooperation of multiple ships are beneficial to improving the operation efficiency and the operation capacity, and the formation of multiple ships becomes an intelligent ship research hotspot. In the actual application of ship formation, the practical problems of ship path planning, collision of ships in the formation and collision of the ships with obstacles are necessarily involved. The ship is required to sense various channel information and self safety and dynamic states in real time, realize omnibearing sensing of the ship by combining the interaction and data fusion in the ship formation, and eliminate navigation danger by controlling the moving states of ship speed, course and the like.
Because the artificial potential field method model is simple, the demand of computing resources is small, the real-time performance is high, and the like, the method is widely applied to real-time collision avoidance and obstacle avoidance control of the mobile intelligent body. The core theory is that by establishing a composite potential field, when the relative distance between other ships or obstacles and the ship in the environment is smaller than a preset value, the potential field generates a virtual repulsive force to push the intelligent body away from other ships or obstacles. The artificial potential field method only utilizes local information sensed by the ship, and the resultant force of the trapped composite acting force is zero in practical application.
Disclosure of Invention
According to the technical problems existing in the existing artificial potential field, the intelligent ship formation collision avoiding method based on the path planning and the artificial potential field method is provided. The invention combines the path planning with the artificial potential field method, fully utilizes the global information and the real-time local information of the ship navigation, and realizes the intelligent navigation and collision avoidance control of the ship. The technical means adopted by the invention are as follows:
an intelligent ship formation collision avoidance method based on path planning and an artificial potential field method comprises the following steps:
s1, setting the sailing safety condition of the ship by combining the ship maneuverability, the ship width and length and the ship draft parameters according to the known chart information and the water channel information;
s2, according to the specified navigation safety conditions, regarding the area which does not accord with the conditions in the electronic chart as a non-navigable area, establishing a chart coordinate system containing a navigation starting point and a navigation ending point, regarding the non-navigable area as an obstacle by using a path planning method, and planning a ship navigation path;
s3, in the process of following the planned route, sensing external obstacles and information of adjacent ships by acquiring the self state of the ships and the information of the external environment in real time;
s4, establishing a collision and obstacle avoidance repulsive force field of the ship through a ship-associated coordinate system, and setting a trigger distance of the potential field and a force gradient of the potential field through a ship speed and a sensor sensing range;
and S5, calculating the control moment borne by the ship according to the local environment information, the planned route and the real-time dynamic state of the ship.
Further, the step S2 specifically includes:
s21, establishing a longitude and latitude coordinate system containing a ship motion starting point and a ship motion finishing point according to the electronic chart and the AIS data;
s22, dividing navigable areas and non-navigable areas according to preset ship navigation safety conditions and the isophote data in a coordinate system;
and S23, defining the non-sailing area as an obstacle, and carrying out global path planning by an RRT path planning method, wherein the planned path is used as an expected path for ship tracking.
Further, the step S4 specifically includes:
s41, establishing a ship-associated coordinate system, establishing a rectangular coordinate system with the ship as an origin through a global positioning system, radar images, AIS data and channel data acquired by a sensor on the ship, and determining position coordinates of the obstacle and other adjacent ships in the formation in the coordinate system through acquired information;
s42, extracting data of the channel and the barrier, obtaining position information of all ships in the fleet through a formation communication network, and establishing a repulsive force field between the ships and a repulsive force field at the boundary of the barrier according to the obtained information:
wherein i and j are the ship and the ship entering the ship potential field respectively,
as a collision avoidance auxiliary function, whereinijIs the relative distance between other vessels and the ship in team, sigma1Is a constant number of times, and is,χ cand
for avoiding collision of the inner and outer boundaries of the potential field, Ψc(ζij) Is a collision avoidance potential field function centered on other ships;
the repulsive force of the adjacent j ships on the ship is the negative gradient of the adjacent ship collision avoidance potential field function, and is expressed as follows:
in the formula, kcThe coefficient of the collision avoidance is positive,
the gradient of the relative positions of the two ships;
the resultant force of the repulsion forces of the collision avoidance potential field experienced by the ship is expressed as:
in the formula, NiThe ship is an adjacent ship set entering the collision avoidance potential field of the i ship;
establishing an obstacle potential field, wherein the function expression of the obstacle potential field is as follows:
in the formula (I), the compound is shown in the specification,
as an obstacle avoidance auxiliary function, where xiikIs the ship and obstacleDistance between objects, theta1Is a constant number of times, and is,χ oand
is the external world of the obstacle potential field, Ψo(ξik) An obstacle avoidance potential field function with an obstacle as a center;
the magnitude of the repulsive force of the potential field generated by the obstacle is as follows:
in the formula, koThe current time is a positive obstacle avoidance coefficient,
a gradient of relative positions of the vessel and the obstacle;
the resultant force of the obstacle avoidance potential field repulsive force borne by the ship is as follows:
in the formula, koPositive obstacle avoidance coefficient, k is an obstacle label, and P is the total number of obstacles near the ship;
s43, establishing a boundary repulsive field and a circular repulsive field, describing the small-sized barrier as a circular barrier, and establishing the circular barrier repulsive field; for medium or large obstacles, potential fields are established along the boundary, and the collision avoidance potential field between ships is a circular potential field surrounding the whole ship.
Further, the step S5 specifically includes:
s51, establishing a shipborne sensing information platform by using the electronic chart, the shipborne differential GPS and AIS data, a shipborne camera and a distance sensor, and early warning the ship navigation danger;
and S52, calculating the resultant moment of the composite potential field to the ship, and decomposing the moment into a moment in the ship heading direction and a moment perpendicular to the ship heading direction according to the ship heading.
Further, the calculating the resultant moment of the composite potential field to the ship specifically includes:
in the formula (I), the compound is shown in the specification,
the combined force of the collision avoidance potential field and the obstacle avoidance potential field on the acting force of the ship is obtained.
The moment is decomposed into a moment in the ship heading direction and a moment perpendicular to the ship heading direction according to the ship heading direction, and the moment is specifically as follows:
in the formula, theta is the heading of the ship,
and
the transverse and longitudinal acting force of the potential field on the ship.
Compared with the prior art, the invention has the following advantages:
1. the intelligent ship formation collision avoidance method based on the path planning and the artificial potential field method provided by the invention considers the problems of path planning and intelligent collision avoidance from the departure point to the destination of the ship formation.
2. The invention provides an intelligent ship formation collision avoidance method based on path planning and an artificial potential field method. And taking the non-sailing area as an obstacle to plan the path. And when the framed area can not meet the navigation condition and can not plan a path, enlarging the framed area until the path can be planned.
3. Because the problem of collision avoidance between the real-time obstacle avoidance and the ship is not considered in the path planning, the method introduces an artificial potential field method to solve the problem of real-time collision avoidance control of the ship. When the ship navigates to the destination along the planned path, the motion state of the ship and the state of the external environment are monitored in real time, the collision which possibly occurs is sensed in advance, and then the course speed of the ship is adjusted by the scheme, so that the collision is avoided.
4. The intelligent ship formation collision avoidance method based on the path planning and the artificial potential field method is small in calculated amount, easy to apply to a real ship and beneficial to realization of unmanned ship formation.
Based on the reasons, the method can be widely popularized in the fields of information technology, ship formation distributed control and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method provided in an embodiment of the present invention.
Fig. 2 is a diagram illustrating a conventional RRT path planning process and effect provided by an embodiment of the present invention.
Fig. 3 is a design diagram of an artificial potential field area provided in an embodiment of the present invention.
Fig. 4 is a schematic diagram of collision avoidance and obstacle avoidance according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The invention provides an intelligent ship formation collision prevention method based on a path planning and artificial potential field method. The collision prevention part needs to generate a control instruction and send the control instruction to the autopilot and the engine rotating speed controller by utilizing the cooperation of a ship-borne sensing information platform containing ship dynamic information and environmental information and a ship collision prevention controller for calculating a ship motion control instruction. Thereby changing the course and speed of the ship. Wherein, the equipment that the on-board perception information platform need be utilized has: ranging cameras, differential GPS systems, marine radar, compass direction finders, shipborne AIS systems, and the like. The ship collision avoidance controller is triggered when the ship meets an obstacle or is too close to other ships, and calculates a ship course and speed control instruction.
Examples
As shown in fig. 1, the invention provides an intelligent ship formation collision avoidance method based on a path planning and artificial potential field method, which comprises the following steps:
s1, setting the sailing safety condition of the ship by combining the ship maneuverability, the ship width and length and the ship draft parameters according to the known chart information and the water channel information;
step S1 specifically includes:
and S11, determining the position of the ship by the shore-based information platform through the AIS data and the shipborne information sensing platform.
And S12, the shore-based information system receives the marine traffic information in real time and updates the chart data.
S2, according to the specified navigation safety conditions, regarding the area which does not accord with the conditions in the electronic chart as a non-navigable area, establishing a chart coordinate system containing a navigation starting point and a navigation ending point, regarding the non-navigable area as an obstacle by using a path planning method, and planning a ship navigation path;
step S2 specifically includes:
s21, establishing a longitude and latitude coordinate system containing a ship motion starting point and a ship motion finishing point according to the electronic chart and the AIS data;
s22, dividing navigable areas and non-navigable areas according to preset ship navigation safety conditions and the isophote data in a coordinate system;
s23, defining the above-mentioned non-navigable area as an obstacle, and as shown in fig. 2, performing global path planning by the RRT path planning method, where the planned path is used as a desired path for ship tracking.
S3, in the process of following the planned route, sensing external obstacles and information of adjacent ships by acquiring the self state of the ships and the information of the external environment in real time;
s4, as shown in figure 3, establishing a collision and obstacle avoidance repulsive force field of the ship through a ship-associated coordinate system, and setting a trigger distance and a force gradient of the potential field through a ship speed and a sensor sensing range;
step S4 specifically includes:
s41, establishing a ship-associated coordinate system, establishing a rectangular coordinate system with the ship as an origin through a Global Positioning System (GPS), a radar image, AIS data and channel data acquired by a sensor on the ship, and determining position coordinates of the obstacle and other adjacent ships in the formation in the coordinate system through acquired information;
s42, as shown in fig. 4, extracting data of the channel and the obstacle, obtaining position information of all ships in the fleet through the formation communication network, and establishing a repulsive force field between the ships and a repulsive force field at the boundary of the obstacle according to the obtained information:
in the formula, i and j are the ship and the ship entering the ship potential field respectively,
as a collision avoidance auxiliary function, whereinijIs the relative distance between other vessels and the ship in team, sigma1Is a constant, χcAnd
for avoiding collision of the inner and outer boundaries of the potential field, Ψc(ζij) Is a collision avoidance potential field function centered on other ships;
the repulsive force of the adjacent j ships on the ship is the negative gradient of the adjacent ship collision avoidance potential field function, and is expressed as follows:
in the formula, kcThe coefficient of the collision avoidance is positive,
the gradient of the relative positions of the two ships;
the resultant force of the repulsion forces of the collision avoidance potential field experienced by the ship is expressed as:
in the formula, NiThe ship is an adjacent ship set entering the collision avoidance potential field of the i ship;
establishing an obstacle potential field, wherein the function expression of the obstacle potential field is as follows:
in the formula (I), the compound is shown in the specification,
as an obstacle avoidance auxiliary function, where xiikIs the distance between the ship and the obstacleIon, theta1Is a constant, χoAnd
is the external world of the obstacle potential field, Ψo(ξik) An obstacle avoidance potential field function with an obstacle as a center;
the magnitude of the repulsive force of the potential field generated by the obstacle is as follows:
in the formula, koThe current time is a positive obstacle avoidance coefficient,
a gradient of relative positions of the vessel and the obstacle;
the resultant force of the obstacle avoidance potential field repulsive force borne by the ship is as follows:
in the formula, koPositive obstacle avoidance coefficient, k is an obstacle label, and P is the total number of obstacles near the ship;
s43, establishing a boundary repulsive field and a circular repulsive field, describing the small-sized barrier as a circular barrier, and establishing the circular barrier repulsive field; for medium or large obstacles, potential fields are established along the boundary, and the collision avoidance potential field between ships is a circular potential field surrounding the whole ship. The tangential distance between the outside and the inner boundary of the designed potential field is set according to the sensing distance or the accuracy of equipment such as radar and the like.
And S5, calculating the control moment borne by the ship according to the local environment information, the planned route and the real-time dynamic state of the ship. Under the action of the composite torque, the marshalling of the ship is controlled to safely bypass the obstacles, and meanwhile, the embarrassment situation that the marshalling enters a narrow and long water channel without an outlet and the like is avoided.
Step S5 specifically includes:
s51, establishing a shipborne sensing information platform by using the electronic chart, the shipborne differential GPS and AIS data, a shipborne camera and a distance sensor, and early warning the ship navigation danger;
and S52, calculating the resultant moment of the composite potential field to the ship, and decomposing the moment into a moment in the ship heading direction and a moment perpendicular to the ship heading direction according to the ship heading. Wherein the content of the first and second substances,
calculating the resultant moment of the composite potential field to the ship, specifically:
in the formula (I), the compound is shown in the specification,
the combined force of the collision avoidance potential field and the obstacle avoidance potential field on the acting force of the ship is obtained.
According to the ship heading, the moment is decomposed into a moment in the ship heading direction and a moment perpendicular to the ship heading direction, and the method specifically comprises the following steps:
in the formula, theta is the heading of the ship,
and
the transverse and longitudinal acting force of the potential field on the ship.
In conclusion, the invention considers the problems of route planning and intelligent collision avoidance from the departure point to the destination of the ship formation. When a shore-based information system carries out path planning, a chart area comprising a starting point and a destination is divided into a navigable area and a non-navigable area according to the safety index of a ship. And taking the non-sailing area as an obstacle to plan the path. And when the framed area can not meet the navigation condition and can not plan a path, enlarging the framed area until the path can be planned. Because the collision avoidance problem between the real-time obstacle avoidance and the ship is not considered in the path planning, an artificial potential field method is introduced to solve the real-time collision avoidance control problem of the ship. When the ship navigates to the destination along the planned path, the motion state of the ship and the state of the external environment are monitored in real time, the collision which possibly occurs is sensed in advance, and then the course speed of the ship is adjusted by the scheme, so that the collision is avoided.
The collision avoidance method has small calculation amount, is easy to be applied in a real ship and is beneficial to the realization of unmanned ship formation.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. An intelligent ship formation collision avoidance method based on path planning and an artificial potential field method is characterized by comprising the following steps:
s1, setting the sailing safety condition of the ship by combining the ship maneuverability, the ship width and length and the ship draft parameters according to the known chart information and the water channel information;
s2, according to the specified navigation safety conditions, regarding the area which does not accord with the conditions in the electronic chart as a non-navigable area, establishing a chart coordinate system containing a navigation starting point and a navigation ending point, regarding the non-navigable area as an obstacle by using a path planning method, and planning a ship navigation path;
the step S2 specifically includes:
s21, establishing a longitude and latitude coordinate system containing a ship motion starting point and a ship motion finishing point according to the electronic chart and the AIS data;
s22, dividing navigable areas and non-navigable areas according to preset ship navigation safety conditions and the isophote data in a coordinate system;
s23, defining the non-sailing area as an obstacle, and carrying out global path planning by an RRT path planning method, wherein the planned path is used as an expected path for ship tracking;
s3, in the process of following the planned route, sensing external obstacles and information of adjacent ships by acquiring the self state of the ships and the information of the external environment in real time;
s4, establishing a collision and obstacle avoidance repulsive force field of the ship through a ship-associated coordinate system, and setting a trigger distance of the potential field and a force gradient of the potential field through a ship speed and a sensor sensing range;
the step S4 specifically includes:
s41, establishing a ship-associated coordinate system, establishing a rectangular coordinate system with the ship as an origin through a global positioning system, radar images, AIS data and channel data acquired by a sensor on the ship, and determining position coordinates of the obstacle and other adjacent ships in the formation in the coordinate system through acquired information;
s42, extracting data of the channel and the barrier, obtaining position information of all ships in the fleet through a formation communication network, and establishing a repulsive force field between the ships and a repulsive force field at the boundary of the barrier according to the obtained information:
in the formula, i and j are the ship and the ship entering the ship potential field respectively,
in order to assist the function in avoiding collision,wherein ζijIs the relative distance between other vessels and the ship in team, sigma1Is a constant number of times, and is,χ cand
for avoiding collision of the inner and outer boundaries of the potential field, Ψc(ζij) Is a collision avoidance potential field function centered on other ships;
the repulsive force of the adjacent j ships on the ship is the negative gradient of the adjacent ship collision avoidance potential field function, and is expressed as follows:
in the formula, kcThe coefficient of the collision avoidance is positive,
the gradient of the relative positions of the two ships;
the resultant force of the repulsion forces of the collision avoidance potential field experienced by the ship is expressed as:
in the formula, NiThe ship is an adjacent ship set entering the collision avoidance potential field of the i ship;
establishing an obstacle potential field, wherein the function expression of the obstacle potential field is as follows:
in the formula (I), the compound is shown in the specification,
as an obstacle avoidance auxiliary function, where xiikIs the distance between the ship and the obstacle theta1Is a constant number of times, and is,χ oand
psi is the external environment of the obstacle potential fieldo(ξik) An obstacle avoidance potential field function with an obstacle as a center;
the magnitude of the repulsive force of the potential field generated by the obstacle is as follows:
in the formula, koThe current time is a positive obstacle avoidance coefficient,
a gradient of relative positions of the vessel and the obstacle;
the resultant force of the obstacle avoidance potential field repulsive force borne by the ship is as follows:
in the formula, koPositive obstacle avoidance coefficient, k is an obstacle label, and P is the total number of obstacles near the ship;
s43, establishing a boundary repulsive field and a circular repulsive field, describing the small-sized barrier as a circular barrier, and establishing the circular barrier repulsive field; for medium or large-sized obstacles, establishing a potential field along a boundary, wherein the collision avoidance potential field between ships is a circular potential field surrounding the whole ship;
s5, calculating the control moment borne by the ship according to the local environment information, the planned route and the real-time dynamic state of the ship;
the step S5 specifically includes:
s51, establishing a shipborne sensing information platform by using the electronic chart, the shipborne differential GPS and AIS data, a shipborne camera and a distance sensor, and early warning the ship navigation danger;
s52, calculating the resultant moment of the composite potential field to the ship, and decomposing the moment into a moment in the ship heading direction and a moment perpendicular to the ship heading direction according to the ship heading;
the calculation of the resultant moment of the composite potential field to the ship specifically comprises the following steps:
in the formula (I), the compound is shown in the specification,
the resultant force of the acting force of the collision avoidance potential field and the obstacle avoidance potential field on the ship;
the moment is decomposed into a moment in the ship heading direction and a moment perpendicular to the ship heading direction according to the ship heading direction, and the moment is specifically as follows:
in the formula, theta is the heading of the ship,
and
the transverse and longitudinal acting force of the potential field on the ship.
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