CN105549600B - A kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia - Google Patents
A kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia Download PDFInfo
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- CN105549600B CN105549600B CN201610082237.8A CN201610082237A CN105549600B CN 105549600 B CN105549600 B CN 105549600B CN 201610082237 A CN201610082237 A CN 201610082237A CN 105549600 B CN105549600 B CN 105549600B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
A kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded moving target, the present invention relates to the bypassing method navigated by water in opposite directions with UUV based on virtual expanded moving target.The present invention be in order to the dyskinesia bypassing method of the opposite navigation used at present be difficult to the motion state of Accurate Prediction dyskinesia the problem of.The present invention is headAngle according to the angle in dyskinesia course and direction finding course, determine that UUV is navigated by water in opposite directions with dyskinesia, when UUV, which detects, to be navigated by water in opposite directions with moving obstacle, dyskinesia carries out circular expanded rear generation rectangular virtual obstacle, the measurement distance nextL of triggering Route Planning Algorithm is calculated, when the air line distance M of UUV and dyskinesia central point meets M<Route Planning Algorithm is triggered during nextL, the measurement for triggering planning next time is calculated away from nextL, until Route Planning Algorithm is no longer triggered.The present invention evades field applied to UUV dyskinesia.
Description
Technical field
The present invention relates to the bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia.
Background technology
In recent years, the achievement on moving obstacle evasion tactics is countless, and summary gets up to be roughly divided into 3 major classes, the
One kind is the movement tendency of first predicted motion obstacle, then makes corresponding countermeasure according to different trend；Second class is dynamic
The moment that state is evaded, dyskinesia is solidified into static-obstacle and evaded, as long as the frequency for making dynamic hedging is very fast, algorithm is with regard to energy
Programme path is constantly updated, until circumventing dyskinesia；3rd class is to use learning algorithm, robot is had intelligence by training
The ability of energy avoidance；
Strategy based on trend prediction can preferably evade the relatively stable dyskinesia of motion state, but for motion speed
Frequently dyskinesia (or target) is then difficult to Accurate Prediction for degree or direction change.Dyskinesia is solidified into the plan of static-obstacle
Slightly, movement tendency is not accounted for, causes the direction that the air route cooked up not necessarily reduces along threatening to generate.Based on learning algorithm
Collision prevention strategy need substantial amounts of training sample, when in the higher circumstances not known of the degree of dynamism in complexity, its collision prevention effect is difficult
To ensure.
The content of the invention
The present invention is in order to which the dyskinesia bypassing method for the opposite navigation for solving to use at present is difficult to Accurate Prediction motion
The problem of motion state of obstacle, and propose a kind of based on virtual expanded dyskinesia and UUV (UAV navigation)
The bypassing method navigated by water in opposite directions.
A kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia is realized according to the following steps：
Step 1：If the angle of dyskinesia course and direction finding course is headAngle, when
When, UUV is opposite navigation with dyskinesia；The direction finding course refers to navigate from UUV current locations to next non-athletic obstacle
The vector that the line of waypoint is formed, non-athletic obstacle way point refer to it is not static in the environment for rely on dyskinesia formation
The summit of environmental information；
Step 2：When UUV, which detects, to be navigated by water in opposite directions with moving obstacle, dyskinesia carries out circular expanded；
Step 3：According to circular expanded, the generation rectangular virtual obstacle of dyskinesia in step 2；
Step 4：According to step 2 and step 3, the measurement distance nextL of triggering Route Planning Algorithm is calculated, works as UUV
Meet to trigger Route Planning Algorithm during M ＜ nextL with the air line distance M of dyskinesia central point, calculate triggering planning next time
Measurement distance nextL, when nextL=abs_r+safe_d, Route Planning Algorithm is no longer triggered；Wherein described abs_
R is dyskinesia radius, and safe_d is expanded distance.
Invention effect：
The present invention uses ant group algorithm to be as most basic dynamic programming algorithm, the trigger mechanism of wherein planning algorithm
The key of state planning, the first mechanism will control the trigger timing of dynamic programming algorithm, UUV is cooked up new air route in time
Moving obstacle is avoided, or the original air route of algorithm amendment is rationally triggered in no moving obstacle.Secondly the mechanism should also
Unnecessary triggering can be suppressed according to the specific environment residing for UUV, because algorithm triggers excessively can frequently reduce UUV and perceive ring
The sensitivity in border.
The purpose of the present invention is on the basis of dyskinesia static strategy, using virtual expansion method by dyskinesia
Trend consider among Dynamic Programming that the direction that making UUV and dyskinesia can reduce when navigating by water in opposite directions along threatening generates
Evade air route.The simulated effect figure of the present invention is as shown in Figure 5.
Brief description of the drawings
Fig. 1 is direction finding course schematic diagram；1 is static-obstacle in figure, and 2 be dyskinesia, and 3 be direction finding course, and 4 be to lay
Point, 5 be recovery point, must 1 be must through point 1；
Fig. 2 is opposite navigation schematic diagram；1 is headAngle in figure, and 2 be dyskinesia, and 3 direction finding courses, 4 be UUV bows
To 5 be dyskinesia course, and O is UUV；
Fig. 3 is that dyskinesia is expanded and generate virtual obstacles schematic diagram；1 is dyskinesia course in figure, and 2 are
HeadAngle, 3 be direction finding course, and 4 be L, and 5 be UUV bows to 6 be M, and 7 be dyskinesia, and O is UUV；
Fig. 4 is the position relationship schematic diagram of UUV and dyskinesia；1 is dyskinesia course in figure, and 2 be headAngle,
3 be UUV bows to 4 be direction finding course, and 5 be L, and 6 be M, and 7 be dyskinesia, and O is UUV；
Fig. 5 is simulated effect figure, and 1 is dyskinesia in figure.
Embodiment
Embodiment one：It is a kind of to be included based on virtual expanded dyskinesia with the bypassing method that UUV is navigated by water in opposite directions
Following steps：
Direction finding course refers to be formed to the line of next non-athletic obstacle way point from UUV current locations vectorial
Direction.So-called non-athletic obstacle way point, refer to that the way point does not rely on dyskinesia formation, but it is static in environment
The summit of environmental information, such as the summit (p of static object2), must be through point, recovery point etc..When UUV runs to position shown in Fig. 1
When, No. 1 dyskinesia is met with, is formed after UUV triggering dynamic programming algorithms and new evades air route, point p1It is that UUV is to avoid No. 1
The way point for relying on dyskinesia formation of dyskinesia formation, and point p2It is the expanded summit of static object.Thus according to fixed
Now direction finding course is vector to justiceDirection.UUV is UAV navigation.
Step 1：If the angle of dyskinesia course and direction finding course is headAngle as shown in Fig. 2 working asWhen, UUV is opposite navigation with dyskinesia；The direction finding course refers to from UUV current locations under
The vector that the line of one non-athletic obstacle way point is formed, non-athletic obstacle way point refer to it is not to rely on dyskinesia
The summit of static context information in the environment of formation；
Step 2：When UUV, which detects, to be navigated by water in opposite directions with moving obstacle, dyskinesia carries out circular expanded；
Step 3：According to circular expanded, the generation rectangular virtual obstacle of dyskinesia in step 2；
Step 4：According to step 2 and step 3, the measurement distance nextL for triggering Route Planning Algorithm is calculated, if UUV
Position relationship with dyskinesia is as shown in figure 4, when UUV and dyskinesia central point air line distance M meet M ＜ nextL
Route Planning Algorithm is triggered, the measurement distance nextL for triggering planning next time is calculated, until nextL=abs_r+safe_d
When, Route Planning Algorithm is no longer triggered and (has evaded dyskinesia)；Wherein described abs_r is that dyskinesia radius (is being built
When mould processing, barrier is all built up into circular model according to the Breadth Maximum of barrier), safe_d is expanded distance.By
It is R in the expanded radius of moving obstacle, the distance M of barrier to UUV meets M >=R all the time, and R ＞ abs_r+safe_d,
So far planning algorithm is no longer triggered.
Embodiment two：Present embodiment is unlike embodiment one：Barrier is moved in the step 2
It is R, R ＞ abs_r+safe_d to hinder the circular expanded rear region radius of progress.
Embodiment three：Present embodiment is unlike embodiment one or two：It is raw in the step 3
Rectangular virtual obstacles are specially：
When UUV detects that dyskinesia sails next in opposite directions, dyskinesia generates a length of L, width along dyskinesia direction of advance
For 2R rectangular virtual obstacle (as shown in Figure 3), the length of the rectangular virtual barrier and UUV to dyskinesia central point straight line away from
It is from M relations：
L=R+ λ (M-R)
Wherein described 0 ＜ λ ＜ 1, λ are the rectangular virtual obstacle length factors that dyskinesia generates when navigating by water in opposite directions, and λ is got over
Greatly, the initial length of rectangular virtual obstacle is bigger, and the adjacent length change that generates twice is bigger, and path is evaded caused by UUV and is got over
It is unsmooth, but can again be planned for UUV and stop navigation buffer time, it is adapted to make when the UUV speed of a ship or plane relative with dyskinesia is larger
With.Conversely, λ is smaller, the initial length of rectangular virtual obstacle is shorter, and the adjacent length change that generates twice is smaller, caused by UUV
It is more smooth to evade path, is adapted to use when the UUV speed of a ship or plane relative with dyskinesia is smaller.
The region in region and virtual obstacles covering after moving obstacle is expanded is all that robot air route can not be passed through
Region.Now one can be obtained at this equivalent to by all environmental information instant statics, calling Route Planning Algorithm
The air route of instantly safe.Due to generating virtual obstacles in front of moving obstacle, it is ensured that travelled virtually in barrier
It will not bump against before the region of obstacle covering with UUV.However, robot and barrier are all constantly moving, relative position is constantly sent out
Changing, and each of which headway is also random, the primary system plan does not ensure that UUV can circumvent dyskinesia safely.
This just needs reasonably to trigger planning algorithm again, corrects air route in time.
Embodiment four：Unlike one of present embodiment and embodiment one to three：The step 4
In Route Planning Algorithm use ant group algorithm, the measurement distance nextL for triggering Route Planning Algorithm is：
Wherein described D is constant, and 0 ＜ η ＜ 1, η are the measurement distance nextL that path planning algorithm is triggered when navigating by water in opposite directions
Renewal coefficient, η is smaller, and the frequency for triggering path planning algorithm is faster.
Embodiment one：
The bypassing method navigated by water in opposite directions is Heading control, but in order to accelerate collision prevention speed, it is right while course is changed
UUV has carried out accelerating to make its speed of a ship or plane be v=vu_max, recover UUV script speed again after barrier is circumvented, as shown in Fig. 5.This
When UUV the initial speed of a ship or plane be 4 sections, the speed of a ship or plane of dyskinesia is 4 sections, and (pixel is according to tasks secure by λ=0.75, safe_d=10
It is required that setting), UUV maximum gauge=18 (pixel is set according to UUV sizes), η=0.95, D=2R, UUV cruising speeds vu=
4kn (section), UUV highest speeds vu_max=8kn (section).
Claims (4)
1. a kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia, it is characterised in that described based on void
Intend expanded dyskinesia with the bypassing method that UUV is navigated by water in opposite directions to comprise the following steps：
Step 1：If the angle of dyskinesia course and direction finding course is headAngle, whenWhen, UUV
It is opposite navigation with dyskinesia；The direction finding course refers to from UUV current locations to next non-athletic obstacle way point
The vector that line is formed, non-athletic obstacle way point refer to it is not that static environment is believed in the environment for rely on dyskinesia formation
The summit of breath；
Step 2：When UUV, which detects, to be navigated by water in opposite directions with moving obstacle, dyskinesia carries out circular expanded；
Step 3：According to circular expanded, the generation rectangular virtual obstacle of dyskinesia in step 2；
Step 4：According to step 2 and step 3, the measurement distance nextL of triggering Route Planning Algorithm is calculated, as UUV and is moved
The air line distance M of obstacle central point meets to trigger Route Planning Algorithm during M ＜ nextL, calculates the measurement for triggering planning next time
Distance nextL, when nextL=abs_r+safe_d, Route Planning Algorithm is no longer triggered；Wherein described abs_r is fortune
Dynamic obstacle radius, safe_d is expanded distance.
2. a kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia according to claim 1, its
It is R, R ＞ abs_r+safe_d to be characterised by the step 2 that dyskinesia carries out circular expanded rear region radius.
3. a kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia according to claim 2, its
It is characterised by that rectangular virtual obstacle is generated in the step 3 is specially：
A length of L, a width of 2R rectangular virtual obstacle, the length and UUV of the rectangular virtual barrier are generated along dyskinesia direction of advance
Air line distance M relations to dyskinesia central point are：
L=R+ λ (M-R)
Wherein 0 ＜ λ ＜ 1.
4. a kind of bypassing method navigated by water in opposite directions with UUV based on virtual expanded dyskinesia according to claim 3, its
The Route Planning Algorithm being characterised by the step 4 uses ant group algorithm, triggers the measurement distance of Route Planning Algorithm
NextL is：
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Wherein D is constant, 0 ＜ η ＜ 1.
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| CN106020213B (en) * | 2016-05-12 | 2018-12-11 | 哈尔滨工程大学 | A kind of two-dimentional Route planner that UUV detours to rectangular obstruction geometry |
| CN105843234B (en) * | 2016-05-12 | 2018-08-31 | 哈尔滨工程大学 | A kind of two-dimentional Route planner that UUV detours to round barrier geometry |
| CN107168344B (en) * | 2017-05-17 | 2020-01-17 | 哈尔滨工程大学 | Method for generating air route in process of UUV (unmanned Underwater vehicle) approaching seabed operation |
| CN108279692B (en) * | 2018-01-17 | 2020-12-22 | 哈尔滨工程大学 | UUV dynamic planning method based on LSTM-RNN |
| CN109460045B (en) * | 2019-01-14 | 2022-02-22 | 哈尔滨工程大学 | Improved ant colony optimization-based collision avoidance planning method for USV under dynamic obstacle online perception |
| CN109685286B (en) * | 2019-01-14 | 2022-08-02 | 哈尔滨工程大学 | Improved ant colony optimization-based collision avoidance planning method for USV (Universal Serial bus) in unknown static obstacle environment |
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