CN105629975A - Method for avoiding moving obstacle in UUV navigation process based on virtual puffing - Google Patents

Method for avoiding moving obstacle in UUV navigation process based on virtual puffing Download PDF

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CN105629975A
CN105629975A CN201610082311.6A CN201610082311A CN105629975A CN 105629975 A CN105629975 A CN 105629975A CN 201610082311 A CN201610082311 A CN 201610082311A CN 105629975 A CN105629975 A CN 105629975A
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uuv
dyskinesia
obstacle
virtual
expanded
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CN105629975B (en
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王宏健
张雪莲
徐新
王莹
么洪飞
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Harbin Engineering University
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Harbin Engineering University
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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
    • G05D1/02—Control of position or course in two dimensions

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

The invention discloses a method for avoiding a moving obstacle in a UUV navigation process based on virtual puffing, and relates to the method for avoiding the moving obstacle in the UUV navigation process. The invention aims at solving a problem that a conventional moving obstacle avoiding method is difficult to predict the moving state of a random moving obstacle accurately. The method comprises the steps: firstly determining that an UUV and the moving obstacle navigate in opposite directions or in the same direction, adjusting the heading of the UUV through employing a puffing and rectangular virtual obstacle when the UUV and the moving obstacle navigate in opposite directions, and avoiding the moving obstacle, wherein the navigation in the same direction comprises two types: the UUV follows the moving obstacle and the moving obstacle follows the UUV; adjusting the heading of the UUV through employing the puffing and rectangular virtual obstacle when the UUV follows the moving obstacle, and avoiding the moving obstacle; enabling the UUV to continuously adjust the moving speed when the moving obstacle follows the UUV, adjusting the heading of the UUV through employing the puffing and rectangular virtual obstacle, and avoiding the moving obstacle. The method is used in the field of moving obstacle avoiding of UUVs.

Description

A kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process
Technical field
The present invention relates to based on the dyskinetic bypassing method in virtual expanded UUV navigation process.
Background technology
In recent years, the achievement about dyskinesia bypassing method is countless, sums up to get up to be roughly divided into 3 big classes, and the first kind is the movement tendency of first predicted motion obstacle, then makes corresponding countermeasure according to different trend; Equations of The Second Kind is the moment at dynamic hedging, the dyskinesia is solidified into static-obstacle and evades, as long as the frequency making dynamic hedging is very fast, algorithm just can constantly update programme path, until circumventing the dyskinesia; 3rd class is to adopt learning algorithm, makes the UUV ability with intelligent barrier avoiding by training;
Strategy based on trend prediction can evade the kinestate dyskinesia relatively smoothly preferably, but change the dyskinesia (or target) frequently for movement velocity or direction and be then difficult to Accurate Prediction. The dyskinesia is solidified into the strategy of static-obstacle, it does not have consider movement tendency, causes the air route cooked up not necessarily along threatening the direction reduced to generate. Collision prevention strategy based on learning algorithm needs substantial amounts of training sample, and in the circumstances not known higher in complicated degree of dynamism, its collision prevention effect is difficult to ensure that.
Summary of the invention
The present invention is the problem that the dyskinesia bypassing method in order to adopt at present is difficult to the kinestate of Accurate Prediction random motion obstacle, and propose a kind of based on the dyskinetic bypassing method in virtual expanded UUV (UAV navigation) navigation process.
A kind of realize according to the following steps based on the dyskinetic bypassing method in virtual expanded UUV navigation process:
According to headAngle, step one: set the angle of dyskinesia course and direction finding course as headAngle, determines that UUV and the dyskinesia navigate by water in opposite directions or UUV and the dyskinesia navigate by water in the same direction; Direction finding course refers to the vector formed from UUV current location to the line of next non-athletic obstacle way point, and non-athletic obstacle way point refers to it is not rely on the summit of static context information in the environment that the dyskinesia is formed;
Step 2: when UUV detects with the dyskinesia as navigating by water in opposite directions, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 3: when UUV detects UUV and the dyskinesia for navigating by water in the same direction, the angle �� according to the line of the dyskinesia to UUV present position Yu dyskinesia direction of advance, it is divided into UUV to pursue and attack the dyskinesia and the dyskinesia pursues and attacks two kinds of position relationships of UUV;
Step 4: when UUV pursues and attacks the dyskinesia, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 5: when the dyskinesia pursues and attacks UUV, according to the change of UUV and dyskinesia relative position, UUV constantly adjusts displacement speed, and adopt expanded and rectangular virtual obstacle auxiliary adjust the bow of UUV to, evade the dyskinesia.
Invention effect:
The present invention uses ant group algorithm as most basic dynamic programming algorithm, wherein the trigger mechanism of planning algorithm is the key of dynamic programming, first this mechanism to control the trigger timing of dynamic programming algorithm well, moving obstacle is avoided in the air route that makes new advances to make UUV to plan in time, or when there is no moving obstacle the reasonable original air route of triggering algorithm correction. Secondly this mechanism also should be able to specific environment residing for UUV, it is suppressed that unnecessary triggering, because algorithm triggers excessively frequently can reduce the susceptiveness of UUV perception environment. The present invention does virtual expanded according to position relationships different between UUV from the dyskinesia to the dyskinesia and design planning algorithm triggers regular.
It is an object of the invention on the basis of dyskinesia static strategy, virtual expansion method is used to consider in the middle of dynamic programming by dyskinetic trend, make UUV can generate along the direction threatening reduction and evade air route, UUV advances and exists concurrently with in static object and dyskinetic environment, even if meet with simultaneously multiple dyskinesia also can Safe Avoidance of collision, the simulated effect figure of the present invention is as shown in Figure 14 and Figure 15.
The present invention will navigate by water in the same direction bypassing method and in opposite directions navigation bypassing method combination use, owing to two kinds of methods are all the relative position relation according to the dyskinesia and UUV and length velocity relation, each generate virtual obstacles for the dyskinesia, with the bow of auxiliary adjustment UUV to. Therefore, when occurring multiple dyskinesia in environment, UUV can judge and each dyskinetic course relation and length velocity relation in sensing range, and is simultaneously generated corresponding dyskinetic virtual obstacles according to corresponding rule; Then, adopt basic ant colony path planning algorithm, under complicated obstacle environment of doing more physical exercises, cook up UUV safety fairway. It is also pointed out that, when meeting with the dyskinesia in multiple different speed of a ship or plane or course at the same time, UUV is likely to occur speed and regulates conflict, in order to ensure the safety of UUV, when occurring that this type of conflicts, all adopts speed bigger in regulating command as the current speed of a ship or plane of UUV. It can be seen that two kinds of Combination of Methods can successfully and optimally evade the dyskinesia in multi-direction, multiple speed situation after using, reach the effect of UUV dodging ability multiplication.
Accompanying drawing explanation
Fig. 1 is direction finding course schematic diagram; In figure, 1 is static-obstacle, and 2 is the dyskinesia, and 3 is direction finding course, and 4 is lay a little, and 5 is recovery point, must 1 be must through point 1;
Fig. 2 is for navigating by water schematic diagram in opposite directions; In figure, 1 is headAngle, and 2 is the dyskinesia, 3 direction finding courses, 4 be UUV bow to, 5 is dyskinesia course, and O is UUV;
Fig. 3 is for navigating by water schematic diagram in the same direction; In figure, 1 is headAngle, and 2 is the dyskinesia, 3 direction finding courses, 4 be UUV bow to, 5 is dyskinesia course, and O is UUV;
Fig. 4 is that the dyskinesia is expanded and generate virtual obstacles schematic diagram; In figure, 1 is headAngle, and 2 is the dyskinesia, and 3 is direction finding course, and 4 is L, and 5 is dyskinesia course, and 6 is M, and 7 is the dyskinesia, and O is UUV;
Fig. 5 is UUV and dyskinetic position relationship schematic diagram; In figure, 1 is headAngle, and 2 is the dyskinesia, and 3 is dyskinesia course, and 4 is direction finding course, and 5 is L, and 6 is M, and 7 is the dyskinesia, and O is UUV;
When Fig. 6 is for navigation in the same direction, UUV pursues and attacks dyskinesia schematic diagram; In figure, 1 is direction finding course, and 2 is headAngle, and 3 is dyskinesia course, 4 be UUV bow to, 5 is M, and 6 is pursue and attack judgement line l, and 7 is the dyskinesia, 8 is the perceived scope of the dyskinesia (UUV, in this circle territory, can perceive this dyskinesia), and O is UUV;
When Fig. 7 is for navigation in the same direction, the dyskinesia pursues and attacks UUV schematic diagram; In figure 1 be UUV bow to, 2 is headAngle, and 3 is dyskinesia course, and 4 is direction finding course, 5 is M, and 6 is pursue and attack judgement line l, and 7 is the dyskinesia, 8 is the perceived scope of the dyskinesia (UUV, in this circle territory, can perceive this dyskinesia), and O is UUV;
Fig. 8 is that UUV pursues and attacks generation virtual obstacles schematic diagram during the dyskinesia; In figure, 1 is static-obstacle, and 2 is bulked thread, and 3 is direction finding course, and 4 is headAngle, and 5 is dyskinesia course, and 6 is L, and 7 is M, and 8 is pursue and attack judgement line l, 9 be UUV bow to, 10 is the perceived scope of the dyskinesia, and O is UUV;
Fig. 9 is the UUV schematic diagram pursuing and attacking that during the dyskinesia, virtual obstacles generates along dyskinesia direction of advance; In figure, 1 is static-obstacle, and 2 is bulked thread, and 3 is direction finding course, and 4 is headAngle, and 5 is dyskinesia course, and 6 is L, and 7 is ��, and 8 is M, and 9 is pursue and attack judgement line l, and 10 is the perceived scope of the dyskinesia, 11 be UUV bow to, O is UUV;
Figure 10 is dyskinesia scene 1 schematic diagram when pursuing and attacking UUV; In figure 1 be UUV bow to, 2 is dyskinesia course, and 3 is headAngle, and 4 is static-obstacle, and 5 is bulked thread, and 6 is direction finding course, and 7 is M, and 8 is pursue and attack judgement line l, and 9 is the perceived scope of the dyskinesia, and O is UUV;
Figure 11 is dyskinesia scene 2 schematic diagram when pursuing and attacking UUV; In figure, 1 is dyskinesia course, 2 be UUV bow to, 3 is headAngle, and 4 is static-obstacle, and 5 is bulked thread, and 6 is direction finding course, and 7 is the perceived scope of the dyskinesia, and 8 is pursue and attack judgement line l, and 9 be M, O is UUV;
Scene 3 schematic diagram when Figure 12 is that after scene 2, the dyskinesia pursues and attacks UUV; In figure, 1 is dyskinesia course, and 2 is headAngle, 3 be UUV bow to, 4 is static-obstacle, and 5 is bulked thread, and 6 is direction finding course, and 7 is the perceived scope of the dyskinesia, and 8 is M, and 9 is that to pursue and attack judgement line l, O be UUV;
Figure 13 is rapid movement obstacle scene 3 schematic diagram when pursuing and attacking UUV; In figure 1 be UUV bow to, 2 is bulked thread, and 3 is static-obstacle, and 4 is dyskinesia course, and 5 is direction finding course, and 6 is virtual obstacles, and 7 is M, and 8 is pursue and attack judgement line l, and 9 is the perceived scope of the dyskinesia, and O is UUV;
Figure 14 is that UUV evades single dyskinesia schematic diagram; In figure must 1 be must through point 1, must 2 be must through point 2, must 3 be through point 3, must 4 be 4,1 must be the dyskinesia through point;
Figure 15 is that UUV evades multiple dyskinesia schematic diagram; In figure, 1,2,3,4,5,6,7 is the dyskinesia.
Detailed description of the invention
Detailed description of the invention one: a kind of comprise the following steps based on the dyskinetic bypassing method in virtual expanded UUV navigation process:
Direction finding course refers to the direction of the vector formed from UUV current location to the line of next non-athletic obstacle way point. So-called non-athletic obstacle way point, refers to that this way point does not rely on the dyskinesia and formed, but the summit of static context information in environment, such as the summit (p of static object2), must through point, recovery point etc. When UUV runs to position shown in Fig. 1, meeting with No. 1 dyskinesia, UUV forms new air route of evading after triggering dynamic programming algorithm, puts p1To be UUV be avoid that No. 1 dyskinesia formed rely on the way point that the dyskinesia is formed, and put p2It it is the expanded summit of static object. It is vector thus according to defining now direction finding courseDirection. UUV is UAV navigation.
Obtain UUV self physical dimension and speed of a ship or plane v (this speed of a ship or plane is that UUV self is adjustable, can be continually changing in collision prevention process, the speed that namely UUV truly adopts), cruising speed is vu, maximal rate be vu_max; UUV sensor is used to record dyskinesia radius obs_r (when modeling processes, according to the Breadth Maximum of barrier, barrier all builds up circular model), UUV to the air line distance M of dyskinesia central point, dyskinesia speed vb;
According to headAngle, step one: set the angle of dyskinesia course and direction finding course as headAngle, determines that UUV and the dyskinesia navigate by water in opposite directions or UUV and the dyskinesia navigate by water in the same direction; Direction finding course refers to the vector formed from UUV current location to the line of next non-athletic obstacle way point, and non-athletic obstacle way point refers to that not relying on the dyskinesia is formed, but the summit of static context information in environment;
Step 2: when UUV detects with the dyskinesia as navigating by water in opposite directions, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 3: when UUV detects UUV and the dyskinesia for navigating by water in the same direction, the angle �� according to the line of the dyskinesia to UUV present position Yu dyskinesia direction of advance, it is divided into UUV to pursue and attack the dyskinesia and the dyskinesia pursues and attacks two kinds of position relationships of UUV;
Step 4: when UUV pursues and attacks the dyskinesia, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 5: when the dyskinesia pursues and attacks UUV, according to the change of UUV and dyskinesia relative position, UUV constantly adjusts displacement speed, and adopt expanded and rectangular virtual obstacle auxiliary adjust the bow of UUV to, evade the dyskinesia.
Detailed description of the invention two: present embodiment and detailed description of the invention one the difference is that: in described step one according to headAngle determine UUV and the dyskinesia navigate by water in opposite directions or UUV and the dyskinesia navigate by water in the same direction particularly as follows:
As in figure 2 it is shown, work asTime, UUV and the dyskinesia are for navigate by water in opposite directions; As it is shown on figure 3, work asTime, UUV and the dyskinesia are for navigate by water in the same direction.
Detailed description of the invention three: present embodiment and detailed description of the invention one or two the difference is that: described step 2 evades the dyskinesia particularly as follows:
Step 2 one: when UUV detects that the dyskinesia navigates by water in opposite directions, the dyskinesia carries out circular expanded, expanded rear region radius is R, R > obs_r+safe_d, described obs_r is that dyskinesia radius is (when modeling processes, according to the Breadth Maximum of barrier, barrier all built up circular model), safe_d is expanded distance;
Step 2 two: expanded according to circle dyskinetic in step 2 one, grows into L, the wide rectangular virtual obstacle for 2R along dyskinesia direction of advance is raw, as shown in Figure 4; The length of described rectangular virtual barrier with the relation of UUV to the air line distance M of dyskinesia central point is:
L=R+ �� (M-R)
Wherein said 0 < �� < 1, �� be in opposite directions navigation time the dyskinesia generate rectangular virtual obstacle length factor; �� is more big, the initial length of rectangular virtual obstacle is more big, and the length of adjacent twice generation changes more greatly, and it is more unsmooth that what UUV produced evades path, but can again plan for UUV and stop navigation buffer time, be adapted at using when UUV is bigger relative to the speed of a ship or plane with the dyskinesia. Otherwise, �� is more little, and the initial length of rectangular virtual obstacle is more short, and the change of the length of adjacent twice generation is more little, and what UUV produced evade, and path is more smooth, be adapted at UUV less relative to the speed of a ship or plane with the dyskinesia time use.
The region that the Dou ShiUUV air route, region that region after the dyskinesia is expanded and virtual target cover can not be passed through. Now be equivalent to all environmental information instant statics, call Route Planning Algorithm and can obtain an air route at this instantly safe. Owing to generating virtual obstacles in dyskinesia front, it is ensured that target line finish virtual obstacles cover region before will not bump against with UUV. UUV and target are all in continuous motion, and relative position constantly changes, and each of which headway is also random, and the primary system plan does not ensure that UUV can circumvent safely the dyskinesia, it is necessary to reasonably again triggers planning algorithm, revises air route in time.
Step 2 three: according to step 2 one and step 2 two, Route Planning Algorithm adopts ant group algorithm, calculate the measurement distance nextL triggering Route Planning Algorithm, if UUV is with dyskinetic position relationship as shown in Figure 5,<Route Planning Algorithm during nextL, is triggered when the air line distance M of UUV Yu dyskinesia central point meets M, calculate the measurement next time triggering planning from nextL, until during nextL=abs_r+safe_d, Route Planning Algorithm is no longer triggered; Owing to the expanded radius of moving obstacle is R, barrier meets M>=R all the time to the distance M of UUV, and R>obs_r+safe_d, so far planning algorithm is no longer triggered.
The measurement triggering Route Planning Algorithm from nextL is:
n e x t L = R + &eta; ( M - R ) , R + &eta; ( M - R ) &GreaterEqual; D a b s _ r + s a f e _ d , R + &eta; ( M - R ) < D
Wherein said D is constant, and 0 < �� < 1, �� when being navigate by water in opposite directions, triggers the renewal coefficient weighing distance nextL of path planning algorithm, and �� is more little, and the frequency of triggering path planning algorithm is more fast.
Detailed description of the invention four: one of present embodiment and detailed description of the invention one to three the difference is that: in described step 3, UUV pursues and attacks the dyskinesia and the dyskinesia is pursued and attacked the defining method of two kinds of position relationships of UUV and is:
WhenTime, as shown in Figure 6, pursue and attack the dyskinesia for UUV; WhenTime, as it is shown in fig. 7, pursue and attack UUV for the dyskinesia.
The perception radius being sized to UUV of dyskinesia outer broken lines circle in Fig. 6 and Fig. 7, when UUV is in this circle, the corresponding dyskinesia is found out by UUV. Pursuing and attacking and judge that the line l position being likely to be at by UUV is divided into two parts according to dyskinetic direction of advance, be that UUV pursues and attacks the dyskinesia when UUV is in rear side, being in front side is then that the dyskinesia pursues and attacks UUV; Pursue and attack and judge that line is as crossing dyskinesia central point and being perpendicular to the straight line in movement velocity direction.
Detailed description of the invention five: one of present embodiment and detailed description of the invention one to four the difference is that: described step 4 adopts the bow of expanded and rectangular virtual obstacle auxiliary adjustment UUV to, evade dyskinetic process particularly as follows:
When UUV after pursue and attack the dyskinesia time, it is exactly safe for only needing UUV to arrive dyskinetic air line distance M >=R, UUV as seen from Figure 6. Owing to the speed of a ship or plane and the relative position relation of UUV and target are random within the specific limits, therefore the motion of UUV not necessarily can be impacted by the dyskinesia, so being unnecessary upon finding that target just triggers planning. The scheme of present invention design is, if UUV pursues and attacks at dyskinesia rear, to think that the navigation of UUV is had impact by the dyskinesia when UUV to dyskinetic air line distance distance M��C (C is constant, is generally taken as 2R��3R), now trigger planning.
Before Route Planning Algorithm is called, the virtual obstacles course with auxiliary adjustment UUV need to be generated.
IfTime, direction finding course and dyskinesia course angle are relatively big, along direction finding course vertical direction generate one long be the virtual obstacles of 2R for L width, usual L takes very big value (in simulated program, L value is 5R), UUV is guided to detour from dyskinesia rear, as shown in Figure 8; If during headAngle��smallAngle, dyskinetic course almost overlaps with direction finding course, and virtual target generates along dyskinesia direction of advance, guides UUV to detour from dyskinesia side, as shown in Figure 9. SmallAngle is low-angle decision content,| op | is the UUV air line distance to next non-athletic obstacle way point, R be the dyskinesia carry out circular expanded after radius.
Situation shown in Fig. 8 also has merit attention at 2: first, if angle [alpha] is the UUV angle arriving dyskinetic line and direction finding course in figure, M �� cos (��) is that UUV generates the air line distance in direction to rectangular virtual obstacle. As M �� cos (��), < during R, if still by being perpendicular to direction finding course direction generation virtual obstacles, then UUV can be covered by virtual obstacles, and this will can not produce correct program results. In order to avoid the generation of this type of situation, as M �� cos (��), < during R, virtual obstacles generates along dyskinesia direction of advance. Secondly, the direction vertical with direction finding course has two in fact, but in order to force UUV to detour on rear side of the dyskinesia, virtual obstacles should generate along the vertical direction less with dyskinesia course angle.
Detailed description of the invention six: one of present embodiment and detailed description of the invention one to five the difference is that: described step 5 evades dyskinetic process particularly as follows:
Barrier after pursue and attack the situation of UUV, three kinds of trigger scenario can be divided into according to UUV with dyskinetic relative position relation;
As shown in Figure 10 (scene 1), UUV (some o) and next non-athletic obstacle way point p is respectively in the both sides of moving obstacle course line, UUV is h to the distance in moving obstacle course, trigger planning as R��h��2R and (first generate virtual obstacles, rear triggering is planned), virtual obstacles generates along moving obstacle direction of advance simultaneously. Now to break away from dyskinetic impact, air route that UUV cooks up or detour on rear side of moving obstacle, or surmount from moving obstacle front. When UUV selects to surmount from front, need to stay safe distance, namely only when the UUV distance s projecting to moving obstacle on dyskinesia course meets s > front_safeL time, UUV starts to cross dyskinesia course line from front, and choosing of front_safeL is relevant with dyskinetic speed and radius;
Step May Day: UUV and next non-athletic obstacle way point are respectively in the both sides of dyskinesia course line, UUV is h to the distance in dyskinesia course, as R��h��2R, and the dyskinetic distance s that projects to that UUV is on dyskinesia course meets s<during front_safeL, virtual obstacles generates along dyskinesia direction of advance, triggers planning; If during s>front_safeL, then perform step 5 two; Described front_safeL is safe distance;
f r o n t _ s a f e L = 2 R v u _ m a x &times; v b + R
According to dyskinetic velocity magnitude, UUV takes different speed planning strategies:
If vb��vuTime, making the current speed of a ship or plane of UUV is maximum speed v=vu_max; Current for the UUV speed of a ship or plane is accelerated to and maximum UUV can be made from front to surmount s when the dyskinesia reach front_safeL as early as possible;
If vu��vb��vu_maxTime, reduce the UUV speed of a ship or plane, make(or a certain relatively low speed of a ship or plane); The UUV speed of a ship or plane reduces UUV can be suppressed to surmount obstacles from front course line, guides it to detour on rear side of the dyskinesia;
If vb>vu_maxTime, make v=vu; Now the dyskinesia speed of a ship or plane is more many soon than the UUV speed of a ship or plane, and UUV tends to detour on rear side of the dyskinesia.
As shown in figure 11 (scene 2), now UUV (some o) and next non-athletic obstacle way point p is respectively in the both sides of dyskinesia course line, R��h��2R, s > front_safeL, illustrating that UUV has reserved enough safe distances in dyskinesia front, UUV can pass through from dyskinesia course line safely;
Step 5 two: UUV and next non-athletic obstacle way point are respectively in the both sides of dyskinesia course line, and as R��h��2R and s > front_safeL, in order to guide UUV to change course, virtual target at the length L of dyskinesia direction of advance is:
L=R+ �� ' (s-R)
The rectangular virtual obstacle length factor that when wherein said 0 < �� ' < 1, �� ' is navigation in the same direction, the dyskinesia generates; �� ' is more big, the initial length of rectangular virtual obstacle is more big, and the length of adjacent twice generation changes more greatly, and it is more unsmooth that what UUV produced evades path, but can again plan for UUV and stop navigation buffer time, be adapted at using when UUV is bigger relative to the speed of a ship or plane with the dyskinesia. Otherwise, �� ' is more little, and the initial length of rectangular virtual obstacle is more short, and the change of the length of adjacent twice generation is more little, and what UUV produced evade, and path is more smooth, be adapted at UUV less relative to the speed of a ship or plane with the dyskinesia time use.
As shown in figure 12, scene 3 be typically characterised by h < R, the formation of this scene is probably by passing through dyskinesia course line after scene 2;
Step 5 three: < during R, virtual target is L in the length of dyskinesia direction of advance, and adjusting UUV speed is v=v as hu_max��
Constantly calling planning algorithm in crossing process, can update UUV course continuously, in order to make UUV pass through more rapidly, adjusting its speed is v=vu_max��
In addition, scene 3 can also be able to be pursued and attacked by the obstacle of rapid movement, as shown in figure 13. Now headAngle is only small, though UUV do not pass through motion or pass through motion can not make h > R arrive safety area. Work as vb<vu_maxTime, it is possible to by adjust the UUV speed of a ship or plane be maximum speed v=vu_max, make the dyskinesia be unlikely to collide with UUV. And work as vb>vu_maxTime, in any case adjust the UUV speed of a ship or plane all can not avoid the dyskinesia, now need to adjust UUV course, make UUV occur lateral movement to avoid the barrier quickly chased after. For this, one virtual obstacles identical with self size of regeneration in moving obstacle direction of advance, this virtual obstacles needs sufficiently large with the distance of the corresponding dyskinesia itself, make virtual obstacles can be in the front of the UUV direction of motion, and along with the dyskinesia approaches UUV from rear side, virtual obstacles also should approach UUV, UUV so just can be forced to make quick course and adjust (distance of this virtual obstacles with the corresponding dyskinesia itself is taken as 2M by the present invention).
To sum up, when h < during R, from moving obstacle current location, along its direction of advance generate one long for L=R+ �� ' (s-R) (wherein 0 < �� ' < 1), the wide virtual obstacles for 2R. If vb>vu_max, need to distance be also the virtual obstacles that the position regeneration one of 2M is identical with the size of the dyskinesia own in moving obstacle direction of advance. After virtual obstacles generates, triggering planning, adjusting the robot speed of a ship or plane is maximum speed v=vu_max��
Embodiment one:
The simulated effect figure of invention is as shown in Figure 14 and Figure 15;
Navigate by water simulation parameter in opposite directions:
��=0.75, safe_d=10 (pixel requires to set according to tasks secure), UUV maximum gauge=18 (pixel sets according to the concrete size of UUV), and ��=0.95, D=2R, UUV cruising speed vu=4kn (joint), UUV maximum speed vu_max=8kn (joint).
Navigate by water simulation parameter in the same direction:
�� '=0.8, safe_d=10 (pixel), UUV maximum gauge=18 (pixel), UUV cruising speed vu=4kn (joint), UUV maximum speed vu_max=8kn (joint).

Claims (6)

1. one kind based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that described comprise the following steps based on the dyskinetic bypassing method in virtual expanded UUV navigation process:
According to headAngle, step one: set the angle of dyskinesia course and direction finding course as headAngle, determines that UUV and the dyskinesia navigate by water in opposite directions or UUV and the dyskinesia navigate by water in the same direction; Direction finding course refers to the vector formed from UUV current location to the line of next non-athletic obstacle way point, and non-athletic obstacle way point refers to it is not rely on the summit of static context information in the environment that the dyskinesia is formed;
Step 2: when UUV detects with the dyskinesia as navigating by water in opposite directions, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 3: when UUV detects UUV and the dyskinesia for navigating by water in the same direction, the angle �� according to the line of the dyskinesia to UUV present position Yu dyskinesia direction of advance, it is divided into UUV to pursue and attack the dyskinesia and the dyskinesia pursues and attacks two kinds of position relationships of UUV;
Step 4: when UUV pursues and attacks the dyskinesia, adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia;
Step 5: when the dyskinesia pursues and attacks UUV, UUV constantly adjusts displacement speed, and adopt expanded and rectangular virtual obstacle adjust the bow of UUV to, evade the dyskinesia.
2. according to claim 1 a kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that in described step one according to headAngle determine UUV and the dyskinesia navigate by water in opposite directions or UUV and the dyskinesia navigate by water in the same direction particularly as follows:
WhenTime, UUV and the dyskinesia are for navigate by water in opposite directions; WhenTime, UUV and the dyskinesia are for navigate by water in the same direction.
3. according to claim 2 a kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that described step 2 evades the dyskinesia particularly as follows:
Step 2 one: when UUV detects that moving obstacle navigates by water in opposite directions, the dyskinesia carries out circular expanded, and expanded rear region radius is R, R > obs_r+safe_d, described obs_r be dyskinesia radius, safe_d is expanded distance;
Step 2 two: expanded according to circle dyskinetic in step 2 one, grows into L, the wide rectangular virtual obstacle for 2R along dyskinesia direction of advance is raw, and the relation of the length of described rectangular virtual obstacle and UUV to the air line distance M of dyskinesia central point is:
L=R+ �� (M-R)
Wherein 0 < �� < 1;
Step 2 three: according to step 2 one and step 2 two, Route Planning Algorithm adopts ant group algorithm, calculate the measurement distance nextL triggering Route Planning Algorithm, < Route Planning Algorithm during nextL, is triggered when the air line distance M of UUV Yu dyskinesia central point meets M, calculate the measurement next time triggering planning from nextL, until during nextL=abs_r+safe_d, complete Route Planning Algorithm is no longer triggered;
The measurement triggering Route Planning Algorithm from nextL is:
n e x t L = R + &eta; ( M - R ) , R + &eta; ( M - R ) &GreaterEqual; D a b s _ r + s a f e _ d , R + &eta; ( M - R ) < D
Wherein D is constant, 0 < �� < 1.
4. according to claim 3 a kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that in described step 3, UUV pursues and attacks the dyskinesia and the dyskinesia is pursued and attacked the defining method of two kinds of position relationships of UUV and is:
WhenTime, pursue and attack the dyskinesia for UUV; WhenTime, pursue and attack UUV for the dyskinesia.
5. according to claim 4 a kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that described step 4 adopts expanded and rectangular virtual obstacle adjust the bow of UUV to, evade dyskinetic process particularly as follows:
IfTime, generate rectangular virtual obstacle along direction finding course vertical direction, guide UUV to detour from dyskinesia rear; If during headAngle��smallAngle, rectangular virtual obstacle generates along dyskinesia direction of advance, guides UUV to detour from dyskinesia side;| op | is the UUV air line distance to next non-athletic obstacle way point, R be the dyskinesia carry out circular expanded after radius.
6. according to claim 5 a kind of based on the dyskinetic bypassing method in virtual expanded UUV navigation process, it is characterised in that described step 5 evades dyskinetic process particularly as follows:
Step May Day: UUV and next non-athletic obstacle way point are respectively in the both sides of dyskinesia course line, UUV is h to the distance in dyskinesia course, as R��h��2R, and the distance s projecting to moving obstacle that UUV is on dyskinesia course meets s<during front_safeL, virtual obstacles generates along dyskinesia direction of advance, triggers planning; If during s>front_safeL, then perform step 5 two; Described front_safeL is safe distance;
f r o n t _ s a f e L = 2 R v u _ m a x &times; v b + R
If vb��vuTime, make v=vu_max; vuFor UUV cruising speed, v is the UUV speed of a ship or plane, vbFor dyskinesia speed, vu_maxFor UUV maximal rate;
If vu��vb��vu_maxTime, reduce the UUV speed of a ship or plane, make
If vb>vu_maxTime, make v=vu;
Step 5 two: UUV and next non-athletic obstacle way point are respectively in the both sides of dyskinesia course line, and as R��h��2R and s > front_safeL, rectangular virtual barrier at the length L of dyskinesia direction of advance is:
L=R+ �� ' (s-R)
Wherein 0 < �� ' < 1;
Step 5 three: < during R, rectangular virtual barrier is L in the length of dyskinesia direction of advance, and adjusting UUV speed is v=v as hu_max;
If vb>vu_max, and headAngle < smallAngle, then generate on the course line of UUV course forward obstacle one with expanded after the identical virtual obstacles of dyskinesia size.
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