CN105843234B - A kind of two-dimentional Route planner that UUV detours to round barrier geometry - Google Patents
A kind of two-dimentional Route planner that UUV detours to round barrier geometry Download PDFInfo
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Abstract
The present invention is to provide the two-dimentional Route planners that a kind of UUV detours to round barrier geometry.One：From mission Reading text air route starting point Ob, air route terminal OeWith the parameter of each round barrier；Two：Expansion process is carried out to each round barrier, calculates the parameter of each round barrier after expansion；Three：Detour point set S is established, planning current point O is enabledcFor starting point Ob, and be put into detour point set S；Four：If planning current point OcIt is air route terminal Oe, or planning current point OcWith air route terminal OeVisually, six are gone to step, step 5 is otherwise executed；Five：To away from planning current point OcNearest round barrier carries out geometry detour, obtains detour point and is put into detour point set S, Regeneration planning current point Oc, go to step four；Six：By air route terminal OeIt is put into detour point set S, planning terminates.The present invention realizes the detour to round barrier by simple geometrical principle, and UUV can be made fast and efficiently to obtain a safety in round obstacle environment more than complexity without the two-dimentional air route touched.
Description
Technical field
The present invention relates to one is UUV Route planners, particularly a kind of UUV to round barrier geometry around
Capable two-dimentional Route planner.
Background technology
Routeing be underwater unmanned vehicle (Unmanned Underwater Vehicle, UUV) key technology it
One, it is the important embodiment of UUV capacity of will.Routeing refers to cooking up one from starting point under known obstacle environment
Path is touched around all barriers and the nothing reached home.According to Spatial Dimension, routeing can be divided into two-dimentional routeing and
Three-dimensional routeing.Wherein, two-dimentional routeing is the basis of three-dimensional routeing, and also more extensive in the application of UUV,
It is the hot spot of UUV routeing technical research.Currently, there are many Route planner of UUV, but how in complicated obstacle ring
Not only quick but also one nothing of feasible acquisition touches path under border, and especially planing method can be adapted to engineer application, be still one
Difficult point.
Prior art related to the present invention be " the submarine navigation device path planning based on geometric algorithm " (《Naval engineering
College journal》, 2009,21 (6)：41-44 pages), it is mentioned that considering that submarine navigation device is based on geometry calculation when round barrier
The path planning of method, but the Route planner that the document detours to round barrier is different from the present invention.
Invention content
The purpose of the present invention is to provide a kind of simple, planning efficiency height, fireballing UUV of planning of calculating to round obstacle
The two-dimentional Route planner that object geometry detours.
The object of the present invention is achieved like this：
Step 1：From mission Reading text air route starting point Ob, air route terminal OeWith the parameter of each round barrier；
Step 2：Expansion process is carried out to each round barrier, calculates the parameter of each round barrier after expansion；
Step 3：Detour point set S is established, planning current point O is enabledcFor starting point Ob, and be put into detour point set S；
Step 4：If planning current point OcIt is air route terminal Oe, or planning current point OcWith air route terminal OeVisually,
Six are gone to step, step 5 is otherwise executed；
Step 5：To away from planning current point OcNearest round barrier carries out geometry detour, obtains detour point and is put into
In detour point set S, Regeneration planning current point Oc, go to step four；
Step 6：By air route terminal OeIt is put into detour point set S, planning terminates.
The present invention can also include：
1, the method for carrying out geometry detour to round barrier is：
(1), judge planning current point OcWhether on round barrier, if enabling point O1=Oc；Otherwise, planning is solved
Current point OcWith the line of center of circle O and the intersection point of circumference, and enable its be point O1；
(2), air route terminal O is solvedeWith the line of center of circle O and the intersection point of circumference, and enable its be point O2；
(3), ∠ O are solved1OO2Angular bisector and circumference intersection point, and enable its be point O3；
(4), point O was solved1Circle tangent line with cross point O3Circle tangent line intersection point, and enable its be point O4；
(5), point O was calculated2Circle tangent line with cross point O3Circle tangent line intersection point, and enable its be point O5；
It (6), will point O1, point O4, point O5, point O2Detour point as round barrier is put into detour point set S, and more
New planning current point OcFor point O2, detour terminates.
2, the method for carrying out expansion process to round barrier is to terminate the basis of barrier geometry in normal planning
On, according to barrier shape edges with radius of safety ruuvExtend to the outside out a radius of safety region.
The present invention carries out the two-dimentional routeing of UUV using geometrical principle, and simple geometry is used on environmental model
Model is being calculated without being detoured to barrier using simple geometrical principle when touching path, and avoiding other planing methods needs
Map, cyclic search are established without the problem for containing much information, calculating complexity touched caused by path, not only planning efficiency is high, rule
It is fast to draw speed, and principle is simple, calculation amount is small, is easy to Project Realization.
The present invention and background technology " based on geometric algorithm submarine navigation device path planning (《Naval engineering college journal》,
2009,21 (6)：41-44 pages) " the main distinction be：
1, the present invention has carried out expansion process to round barrier, and the background technology " underwater navigation based on geometric algorithm
Device path planning " is without carrying out expansion process.Expansion process is carried out to round barrier, avoids UUV along the navigation of planning air route
When collision with round barrier, improve the nevigation safety of UUV.
2, the present invention and background technology " the submarine navigation device path planning based on geometric algorithm " are to single round barrier
Detour method it is different.The detour method of the present invention is as shown in Figure 4 and Figure 5, formation be a plurality of line segment composition detour air route；
And what background technology was formed is detour air route that line segment and circular arc are combined, and circular arc air route is unfavorable for the air route tracking control of UUV
System.The present invention only has the air route tracing control that the detour air route of line segment is more conducive to UUV, can improve the air route tracking effect of UUV.
The beneficial effects of the present invention are：
1, environmental model is using geometric space model, compared to traditional grid, cartographic model, required planning information
Amount is few, and planning efficiency is high, is particularly suitable for the environment of complexity multi-obstacle avoidance.
2, geometrical principle being applied only to the detour algorithm of round barrier, calculating is simple, is easy to Project Realization, and
Calculation amount is very small, and planning speed is fast.
3, expansion process has been carried out to round barrier using the appearance and size of UUV as radius of safety, has avoided UUV along planning
With the collision of round barrier when air route is navigated by water, the nevigation safety of UUV is improved.
4, the detour air route formed only has line segment, is conducive to the air route tracing control of UUV, can improve the air route tracking of UUV
Effect.
Description of the drawings
Round barrier schematic diagram in Fig. 1 planning environment models；
The radius of safety schematic diagram of Fig. 2 circle barrier expansion process；
The expansion schematic diagram of Fig. 3 circle barriers；
Fig. 4 plans current point not when on round barrier to the detour schematic diagram of round barrier；
Fig. 5 plans current point when on round barrier to the detour schematic diagram of round barrier；
The flow chart that Fig. 6 UUV detour to the geometry of round barrier；
Fig. 7 judges that be linked to be the flow chart whether line segment intersects with round barrier at 2 points；
The two-dimentional routeing flow chart that Fig. 8 UUV detour to round barrier geometry；
Fig. 9 carries out the design sketch that UUV detours to the geometry of round barrier using the present invention.
Specific implementation mode
The present invention is described in detail for citing below.
The environmental model of UUV two dimension routeings is introduced in conjunction with Fig. 1.
The environmental model of routeing is using two-dimensional geometry spatial model in the present invention.If the air route starting point of planning is
Ob, air route terminal is Oe, ObAnd OeIt is expressed as respectively with two-dimensional coordinate：
Ob=(xob,yob)；Oe=(xoe,yoe) (1)
It is another to set planning current point that each step during routeing is used as Oc, it is expressed as with two-dimensional coordinate：
Oc=(xoc,yoc) (2)
If there are a certain number of round barriers in two-dimensional geometry space, as shown in Figure 1, set round barrier as
Zcirc, parameterize and be expressed as：
Zcirc=(xcirc,ycirc,r) (3)
In formula, (xcirc,ycirc) indicate that the two-dimensional coordinate in the center of circle, r indicate the radius of round barrier.
The method for building up of round barrier inflationary model is introduced in conjunction with Fig. 2 and Fig. 3.
When carrying out routeing, usually UUV is considered as particle, therefore the air route planned may be away from obstacle
Object is closer.But in fact, UUV is the entity for having geometric dimension, when the air route of planning is closer away from barrier, it is more likely that lead
UUV is caused to collide with barrier.Thus when carrying out routeing, one radius of safety of setting is navigated to prevent the edges UUV from planning
Road collides when navigating by water with barrier.The method that the present invention uses is the circumradius r with the appearance and size of UUVuuvFor peace
Full radius (as shown in Figure 2), then on the basis of the geometry of normal round barrier, according to its shape edges with radius
ruuvExtend to the outside out a radius of safety region.Fig. 3 gives round barrier and extends to the outside the expansion signal after radius of safety
Figure.
The parametrization of round barrier is expressed as after expansion：
Z′circ=(xcirc,ycirc,r′) (4)
In formula：(xcirc,ycirc) still indicate the center of circle two-dimensional coordinate；And r '=r+ruuvIndicate the round obstacle after expansion
Object radius.
Detour methods of the UUV to round barrier is introduced in conjunction with Fig. 4, Fig. 5, Fig. 6.
Planning current point is divided on round barrier and two kinds not on round barrier to the detour of round barrier
Situation, Fig. 4 give detour schematic diagram of the planning current point not on round barrier, and Fig. 5 gives planning current point in circle
Detour schematic diagram on shape barrier.As can be seen from Figure 4 and Figure 5, a plurality of using utilizing to the detour of round barrier
Method of the intersection point of round tangent line as the round barrier of point detour that detours, and solve each detour point using geometrical principle.
Fig. 6 gives the detour flow of round barrier.
Step 1：Judge planning current point OcWhether on barrier, if on barrier, O is enabled1=Oc, go to step
Three；Otherwise step 2 is executed；
Step 2：Solve planning current point OcWith the intersection point O of the line and circle of center of circle O1=(xO1,yO1), O1Position sit
Mark is calculated by formula (5), and there are two solutions, choose and current point OcApart from close solution as point O1Coordinate.
In formula：kcIndicate planning current point OcWith the slope of the connected straight lines of center of circle O, and have
Step 3：Solve air route terminal OeWith the intersection point O of the line and circle of center of circle O2=(xO2,yO2), O2Position coordinates
It is calculated by formula (6), there are two solutions, choose and air route terminal OeApart from close solution as point O2Coordinate.
In formula：keIndicate air route terminal OeWith the slope of the connected straight lines of center of circle O, and have
Step 4：Solve ∠ O1OO2Angular bisector L0With round intersection point O3=(xO3,yO3), O3Position coordinates press formula
(7) it calculates, there are two solutions, choose and point O1(or point O2) apart from close solution conduct point O3Coordinate.
In formula：Indicate ∠ O1OO2Angular bisector L0Slope, and have
Step 5：Point O was solved respectively1、O2、O3Circle tangent line L1、L2、L3, tangential equation is respectively by formula (8), formula
(9) it is calculated with formula (10).
In formula：kL1、bL1Round tangent line L is indicated respectively1Slope and intercept；kL2、bL2Round tangent line L is indicated respectively2's
Slope and intercept；kL3、bL3Round tangent line L is indicated respectively3Slope and intercept.
Step 6：Calculate tangent line L1And L3Intersection point O4=(xO4,yO4), O4Position coordinates by formula (11) calculate
Step 7：Calculate tangent line L2And L3Intersection point O5=(xO5,yO5), O5Position coordinates by formula (12) calculate
Step 8：It will point O1、O4、O5、O2Detour point as round barrier is put into detour point set S, and is updated and worked as
Preceding point OcFor O2, detour terminates.
Judge planning current point O in conjunction with Fig. 7 introductionscWith air route terminal OeWhether visual method.
Point OcWith point OeRefer at 2 points by any round barrier not stopped.Judge that 2 points of whether visual methods are exactly
Judge that 2 lines are formed by whether line segment intersects with all round barriers, if do not intersected with any round barrier
Then show 2 points it is visual.Judge planning current point OcWith air route terminal OeWhether visual flow is as shown in Figure 7：.
Step 1：The round barrier of selection first；
Step 2：Solve current point OcWith air route terminal OeThe discriminate of the root of the quadratic equation of 2 lines and circle simultaneous
Δ, shown in method for solving such as formula (13)：
In formula, kceAnd bcePoint O is indicated respectivelycWith point OeConnect straight slope and intercept, and has
bce=yoc-kcexoc；
Step 3：Judge whether the discriminate Δ of root is more than or equal to 0, goes to step four if it is larger than or equal to 0, otherwise go to step
Six
Step 4：Solve current point OcWith air route terminal OeThe abscissa x of two intersection points of 2 lines and circlepc1And xpc2,
Shown in method for solving such as formula (14)：
Step 5：Judge xpc1Value in xocAnd xoeBetween or xpc2Value is in xocAnd xoeBetween whether meet, if meet turn
Otherwise step 7 goes to step six；
Step 6：Judge whether also round barrier, if so, the next round barrier of selection, goes to step two, it is no
Then go to step eight；
Step 7：Current point OcWith air route terminal OeIt is not visible, judge to terminate；
Step 8：Current point OcWith air route terminal OeVisually, judge to terminate.
The whole flow process for the two-dimentional routeing that UUV detours to round barrier geometry is introduced in conjunction with Fig. 8.
Step 1：From mission Reading text air route starting point Ob, air route terminal OeWith the parameter of each round barrier；
Step 2：Establish each round barrier inflationary model, calculate the parameter of each round barrier after expansion, establish around
Row point set S；
Step 3：Enable planning current point OcFor starting point Ob, and be put into detour point set S；
Step 4：Judge planning current point OcWhether air route terminal Oe, if it is going to step ten, otherwise go to step five；
Step 5：Judge planning current point OcWith air route terminal OeIt is whether visual, if visually going to step ten, otherwise turn to walk
Rapid six；
Step 6：Search Length plans current point OcNearest round barrier；Searching method is to find obstruction first currently
Point OcWith air route terminal OeThen all round barriers of line solve above each round barrier center and current point Oc's
Distance, distance minimum is away from planning current point OcNearest round barrier；
Step 7：To away from planning current point OcNearest round barrier carries out geometry detour；
Step 8：The point that will detour is put into detour point set S；
Step 9：Regeneration planning current point Oc, go to step four；
Step 10：By air route terminal OeIt is put into detour point set S, planning terminates.
Fig. 9 gives carries out a realizations of the UUV to the two-dimentional routeing of round barrier geometry detour using the present invention
Case.
In present case, it is provided with 10 round barriers, the starting point O in air route altogetherbWith the terminal O in air routeeIt gets the bid in figure
Go out.First, expansion process has been carried out to each barrier in planning, chain-dotted line is used on the expansion boundary of each barrier in figure
It marks.Then, UUV detours to part circular barrier, has obtained detour point set S={ Ob,P1,P2,P3,…,P16,
Oe, and the UUV detours air route being made of the point that detours has been represented by dashed line out in figure.
Claims (2)
1. the two-dimentional Route planner that a kind of UUV detours to round barrier geometry, it is characterized in that：
Step 1：From mission Reading text air route starting point Ob, air route terminal OeWith the parameter of each round barrier；
Step 2：Expansion process is carried out to each round barrier, calculates the parameter of each round barrier after expansion；
Step 3：Detour point set S is established, planning current point O is enabledcFor starting point Ob, and be put into detour point set S；
Step 4：If planning current point OcIt is air route terminal Oe, or planning current point OcWith air route terminal OeVisually, it goes to step
Six, otherwise execute step 5；
Step 5：To away from planning current point OcNearest round barrier carries out geometry detour, obtains detouring point and is put into detour point
In set S, Regeneration planning current point Oc, go to step four；
To round barrier carry out geometry detour method be：
(1), judge planning current point OcWhether on round barrier, if enabling point O1=Oc；Otherwise, it is current to solve planning
Point OcWith the line of center of circle O and the intersection point of circumference, and enable its be point O1；
(2), air route terminal O is solvedeWith the line of center of circle O and the intersection point of circumference, and enable its be point O2；
(3), ∠ O are solved1OO2Angular bisector and circumference intersection point, and enable its be point O3；
(4), point O was solved1Circle tangent line with cross point O3Circle tangent line intersection point, and enable its be point O4；
(5), point O was calculated2Circle tangent line with cross point O3Circle tangent line intersection point, and enable its be point O5；
It (6), will point O1, point O4, point O5, point O2Detour point as round barrier is put into detour point set S, and Regeneration planning
Current point OcFor point O2, detour terminates；
Step 6：By air route terminal OeIt is put into detour point set S, planning terminates.
2. the two-dimentional Route planner that UUV according to claim 1 detours to round barrier geometry, it is characterized in that right
The method that round barrier carries out expansion process is：On the basis of normal planning terminates barrier geometry, according to obstacle
Object shape edges are with radius of safety ruuvExtend to the outside out a radius of safety region.
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| 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 |
| CN107491068B (en) * | 2017-08-29 | 2020-12-04 | 歌尔股份有限公司 | Mobile robot path planning method and device and path planning equipment |
| CN109990782A (en) * | 2017-12-29 | 2019-07-09 | 北京欣奕华科技有限公司 | A kind of method and apparatus of avoiding obstacles |
| CN108279692B (en) * | 2018-01-17 | 2020-12-22 | 哈尔滨工程大学 | UUV dynamic planning method based on LSTM-RNN |
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| CN111290376B (en) * | 2018-11-22 | 2021-05-04 | 中国科学院沈阳自动化研究所 | Method for tracking circular track of unmanned underwater vehicle |
| 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 |
| CN110658819B (en) * | 2019-09-30 | 2022-04-15 | 北京猎户星空科技有限公司 | Obstacle avoidance method and device, electronic equipment and storage medium |
| CN112179351B (en) * | 2020-09-30 | 2023-03-28 | 上海电机学院 | Three-dimensional obstacle avoidance track planning method based on pre-planned path optimization RRT algorithm |
| CN112859864A (en) * | 2021-01-15 | 2021-05-28 | 大连海事大学 | Unmanned ship-oriented geometric path planning method |
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