CN107037809A - A kind of unmanned boat collision prevention method based on improvement ant group algorithm - Google Patents

A kind of unmanned boat collision prevention method based on improvement ant group algorithm Download PDF

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CN107037809A
CN107037809A CN201610942213.5A CN201610942213A CN107037809A CN 107037809 A CN107037809 A CN 107037809A CN 201610942213 A CN201610942213 A CN 201610942213A CN 107037809 A CN107037809 A CN 107037809A
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unmanned boat
node
barrier
group algorithm
ant
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王元慧
孙嘉霖
付明玉
王莎莎
沈佳颖
包澄澄
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Harbin Engineering University
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Abstract

The present invention is to provide a kind of based on the unmanned boat collision prevention method for improving ant group algorithm.Step one：Obtain barrier position and unmanned boat position and attitude information, and be filtered and space-time alignment obtain unmanned boat exact position posture and barrier exact position；Step 2：The exact position of the speed of a ship or plane, exact position posture and barrier during by being navigated by water to unmanned boat is evaluated, and sets up Risk-Degree of Collision model, the path planned in advance is screened；Step 3：Unmanned boat trajectory planning is carried out using ant group algorithm is improved.The present invention effectively improves the intellectuality of unmanned boat, reduces the workload of operator；The present invention is planned unmanned boat navigation path using improved ant group algorithm so that the quality of path planning has been lifted.Unmanned boat is realized when the tasks such as search and rescue, prospecting are performed it can be found that barrier, collision prevention strategy is implemented according to the distribution situation of barrier, it is ensured that security when unmanned boat is navigated by water.

Description

A kind of unmanned boat collision prevention method based on improvement ant group algorithm
Technical field
The present invention relates to a kind of unmanned boat collision prevention method.
Background technology
Unmanned boat (unmanned surface vessel, abbreviation USV), is a kind of unattended water surface ship.Mainly It is unsuitable for the task that the ship of someone is performed for performing dangerous and execution.It is commonly equipped with advanced control system, sensor After system and communication system, multiple-task can be performed, such as search and rescue, navigation and hydro_geography prospecting etc..And complete these One of important prerequisite of business is that unmanned boat can carry out collision prevention, and the collision prevention technology of unmanned boat is not only reacted to a certain extent The height of maritime affairs unmanned boat intelligent level, is also one of important research content of unmanned boat key technology area.And it is domestic and international It is not useful in document to improve the relevant report that ant group algorithm is planned the safety lanes of unmanned boat.
The content of the invention
It is an object of the invention to provide a kind of unmanned boat can be allow to avoid barrier on original course in navigation Based on the unmanned boat collision prevention method for improving ant group algorithm.
The object of the present invention is achieved like this：
Step one：The position of barrier and the position and attitude information of unmanned boat are obtained, and is filtered and space-time is aligned Exact position posture and the exact position of barrier to unmanned boat；
Step 2：Comment the exact position of the speed of a ship or plane, exact position posture and barrier during by being navigated by water to unmanned boat Valency, sets up Risk-Degree of Collision model, and the path planned in advance is screened；
Step 3：Unmanned boat trajectory planning is carried out using ant group algorithm is improved, is specifically included：
(1) environmental modeling
It is assumed that the work space information of unmanned boat is known, unmanned boat is operated in two-dimensional space, the two-dimensional space is divided into greatly Small identical grid in these grids if no barrier is free grid, be otherwise barrier grid；
(2) node is selected
Reached home T from starting point S assuming that having m ant, when ant k in t from present node i when, selection The probability P of next node j transfersijFor:
Wherein w represents to be possible to the probable value of the node of selection, τijRepresent the pheromone concentration of t；ηijTo be follow-up The inspiration value of node, heuristic factor ηij=1/dij, wherein dijRepresent node i to j distance；allowedkRepresent that ant k is next Step allows the node of selection.
(3) Pheromone update
Pheromone update is divided into real time information element and updated and routing information element renewal, and real time information element, which updates, refers to each Ant must all be updated after a certain node is selected to the pheromones of the node, i.e.,
τij=(1- ρ) τij+ρτ0
Wherein, τ0For pheromones initial value, ρ is the adjustable parameter of interval [0,1]；
Routing information element is updated to：When all ants from start node go to terminal, when completing iterative search successively, selection The path length that all ants pass through most short paths, update the pheromones of each node on the paths, i.e.,
τij=(1- ρ) τij+ρΔτij
Wherein, Δ τij=1/L*, L*For the length of shortest path；
(4) self-adaptive genetic operator
Pheromones volatility coefficient
ρijIt is the pheromones volatility coefficient between path node i and path node j, TauminIt is minimum pheromones value, TauijIt is the pheromones value between path node i and path node j, e-1It is regulation ρijThe coefficient of size；
Self-adaptive genetic operator redesigns step as follows on the basis of traditional ant group algorithm：
Step 1, construction solution space；
Step 2, initiation parameter；
Step 3, every ant select next feasible node according to select probability；
Step 4, in certain iteration ranges, whether optimal value changes, if not changing, update volatility coefficient value；
Step 5, local information element and global information element update；
Step 6, meet stopping criterion for iteration, output result；
It is resulting from reach home T optimal paths of starting point S be boat that unmanned boat is navigated by water when running into barrier Line.
Purpose based on the unmanned boat collision prevention method for improving ant group algorithm is to provide unmanned boat navigation path, unmanned boat is existed The barrier on original course can be avoided when being navigated by water according to this course line.The method of the present invention is mainly characterized by：
1. the acquisition of Obstacle Position and the acquisition of vessel position posture
Believe the position that unmanned boat and barrier are measured by position reference systems such as satellite, tensioning lock, the underwater sound, laser and radars Breath, from gyro compass, motion reference units etc. measure the bow of unmanned boat to etc. attitude information.Posture and positional information to acquisition are entered Row filtering and space-time alignment, obtain exact position posture and the position of barrier of unmanned boat.
2. set up the Risk-Degree of Collision model of unmanned boat
The position of the speed of a ship or plane, posture and barrier during by being navigated by water to unmanned boat is evaluated, and sets up Risk-Degree of Collision mould Type, is screened to the path planned.
3. based on the unmanned boat trajectory planning for improving ant group algorithm
Ant group algorithm with positive feedback, concurrency, strong robustness, self study and easily with other algorithms due to being combined Advantage, has been widely used for the numerous areas such as path planning, schedule job, image procossing.But, it is easily trapped into local optimum Govern the development of ant group algorithm the problems such as slow always with convergence rate.Local optimum is easily trapped into for current ant group algorithm Shortcoming, the present invention proposes to be updated pheromones by improving heuristic function and adaptive adjustment volatility coefficient, not only very well The advantage of ant group algorithm has been given play on ground, also overcomes its shortcoming for being easy to sink into locally optimal solution, can preferably cook up The navigation route of unmanned boat.
The present invention includes following beneficial effect：
1st, the present invention completes unmanned boat from navigation environment near search, collects and disturbance of analysis thing information, is kept away to formulation Countermeasure is touched, a series of processes hidden to barrier is completed, effectively improves the intellectuality of unmanned boat, reduce operator Workload；
2nd, the present invention is planned unmanned boat navigation path using improved ant group algorithm, overcomes traditional ant group algorithm The problem of being easy to sink into locally optimal solution so that the quality of path planning has been lifted.
3rd, the present invention is planned path by improving ant group algorithm, realizes that unmanned boat is performing search and rescue, prospecting etc. times It can be found that barrier, collision prevention strategy is implemented according to the distribution situation of barrier when business, it is ensured that peace when unmanned boat is navigated by water Quan Xing.
Brief description of the drawings
Fig. 1 is that unmanned boat carries out collision prevention process schematic；
Fig. 2 is the division of unmanned boat Anti-Collision Stages；
Fig. 3 is the improvement ant group algorithm flow chart of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The purpose of the present invention is realized according to the following steps：
1. the acquisition of Obstacle Position and the acquisition of unmanned boat position and attitude
Measuring system on unmanned boat is mainly made up of two large divisions：Position reference system and sensor frame of reference, The position and the position of posture and barrier of unmanned boat in navigation are measured respectively.In view of different sensors on time and step Inconsistent, and measurement error and various uncertain factors etc..The data of different sensors are filtered, merged, space-time More accurate position and attitude information are obtained after alignment.
2. determine that unmanned boat takes the opportunity of collision prevention measure
Foundation《International Regulations for Preventing Collisions at Sea in 1972》And according to different distances, Anti-Collision Stages are divided into five, by Remote and near divides to it, as shown in Fig. 2 being respectively：Act on one's own the stage, the risk of collision stage, close quarters situation's stage, The immediate danger stage is with colliding.For different Anti-Collision Stages, the collision prevention action strategy of various criterion is taken.It is basic herein On set up Risk-Degree of Collision (Collision Risk Index, abbreviation CRI) evaluation model, the value for taking CRI is 0~1, we The probability size collided is evaluated with the data measured by the sensor on unmanned boat out, CRI is bigger, and expression is touched The possibility hit is bigger, for the unmanned boat under operational configuration should according to CRI value, implement different collision preventions and arrange Apply.
The information acquired in sensor on unmanned boat is handled first, the course of unmanned boat and barrier is calculated：
Unmanned boat course
Wherein：
V in formulaOx, vOyThe respectively size of the speed of a ship or plane of unmanned boat speed on x, y-axis.
Calculating unmanned boat with barrier relative distance according to the geographical coordinate of unmanned boat and barrier is：
In formula, xT, yTFor the transverse and longitudinal coordinate of barrier；
xO, yOFor the transverse and longitudinal coordinate of unmanned boat.
Barrier is θ relative to the true bearing of unmanned boatT：
Unmanned boat is θ relative to the true bearing of barrier0：
Wherein,
The phase orientation of barrier is αT：
Relative velocity component of the barrier relative to unmanned boat on x, y-axis be：
Virtual course of the barrier relative to unmanned boat
Wherein：
Distance to closest point of approach：
Time to closest point of approach：
DCPA membership function：
d2=d1K, K are expressed as unstable caused by extraneous and Inner portions factor of state between unmanned boat and not Coordinate.K values are taken herein and are set to steady state value 2.
d1That is crossed safely between expression unmanned boat and barrier is minimum apart from d1=SDAN, reflects unmanned boat with N The situation of sea surface visibility during navigation, is generally defaulted as in test 1, represents the visibility good of surrounding, and seagoing condition is excellent Show, SDA is can be with the most short distance of safety between guarantee unmanned boat and object.
SDA=D (BOT)+K1+K2
D(BOT) determination mode is as follows：
BOTRepresent barrier relative to the azimuth of unmanned boat, K1Influence of the visual situation in navigation marine site to SDA is represented, Under the seagoing condition assumed herein, visually in order, K is taken1=0.K2What the marine site where representing navigation was produced to SDA Influence, for navigating by water the ship in big midocean, K2Value is 0.2, for navigating by water the ship in coastal region, K2Value is 0.
D membership function is：
In formula, r1=DLA, even if showing that unmanned boat is in the state of close quarters situation with barrier, the distance of two ships is r1Just There are enough spaces to depart from close quarters situation.r2=Arena, shows that unmanned boat is in the state of close quarters situation with barrier, between Distance be r2There is no enough spaces to depart from close quarters situation.DLA, to apply rudder point the latest, is to carry out nobody within herein Ship collision prevention operation carries out collision prevention without enough spaces, and collision is unavoidable to be occurred.Arena is arena, calculating side Method is as follows：
Wherein T be unmanned boat bow to angle change 90 ° when required time, unit：h.
The value of Risk-Degree of Collision will directly affect the evaluation for improving ant group algorithm to path, for Risk-Degree of Collision on course line To directly it reject in path more than certain value.
3. based on the unmanned boat trajectory planning for improving ant group algorithm
And the process that ant group algorithm controller makes collision prevention strategy according to barrier data is as shown in Figure 3：
(1) environmental modeling
It is assumed that the work space information of unmanned boat, it is known that i.e. the original position of the position of barrier, size and unmanned boat, Target location etc. is all known；And assume that unmanned boat is operated in two-dimensional space, during motion, all environmental informations Do not change.Grid Method just refers to the working space of unmanned boat to be modeled as two-dimensional space, and the two-dimensional space is divided into Size identical grid, makes to listen free movement within this space for people.If without barrier, be then referred to as in these grids Free grid；Otherwise, referred to as barrier grid.As long as there is the presence of barrier in grid, just it is arranged to obstacle grid, such as Barrier is discontented with a grid and also handled according to a grid in fruit grid.
(2) node is selected
Reached home T from starting point S assuming that having m ant, during movement, when ant is in present node When, selection next node j method is:
Wherein, the set of all nodes of each grid cells of i and 8 grids around it.τijFor pheromones, ηijFor Inspiration value.J computational methods are to calculate present node successively first to next node j select probability Pij, then according to choosing Select j, P that probability finds out next node using roulette algorithmijCalculation formula be：
(3) Pheromone update
Pheromone update can be divided into the renewal of real time information element and routing information element updates, and real time information element renewal refers to every One ant must all be updated after a certain node is selected to the pheromones of the node, i.e.,
τij=(1- ρ) τij+ρτ0
Wherein, τ0For pheromones initial value, ρ is the adjustable parameter of interval [0,1].
When all ants from start node go to terminal, when completing iterative search successively, the road for selecting all ants to pass through Electrical path length most short paths, update the pheromones of each node on the paths, i.e.,
τij=(1- ρ) τij+ρΔτij
Wherein, Δ τij=1/L*, L*For the length of shortest path, ρ is the adjustable parameter of interval [0,1].
(4) self-adaptive genetic operator
Pheromones volatility coefficient
ρijIt is the pheromones volatility coefficient between path node i and path node j, TauminIt is minimum pheromones value, TauijIt is the pheromones value between path node i and path node j, e-1It is regulation ρijThe coefficient of size.
Self-adaptive genetic operator redesigns step as follows on the basis of traditional ant group algorithm：
Step 1, construction solution space；
Step 2, initiation parameter；
Step 3, every ant select next feasible node according to select probability；
Step 4, iterations complete 3 to 5 generation when, whether optimal value changes, if not changing, updates volatility coefficient Value；
Step 5, local information element and global information element update；
Step 6, meet stopping criterion for iteration, output result.
From reach home T optimal paths of starting point S it is that unmanned boat is navigated by water when running into barrier obtained by algorithm Course line.

Claims (3)

1. it is a kind of based on the unmanned boat collision prevention method for improving ant group algorithm, it is characterized in that：
Step one：Obtain barrier position and unmanned boat position and attitude information, and be filtered and space-time alignment obtain nothing The exact position posture of people's ship and the exact position of barrier；
Step 2：The exact position of the speed of a ship or plane, exact position posture and barrier during by being navigated by water to unmanned boat is evaluated, and is built Vertical Risk-Degree of Collision model, is screened to the path planned in advance；
Step 3：Unmanned boat trajectory planning is carried out using ant group algorithm is improved.
2. it is according to claim 1 based on the unmanned boat collision prevention method for improving ant group algorithm, it is characterized in that described utilize changes Enter ant group algorithm progress unmanned boat trajectory planning to specifically include：
(1) environmental modeling
It is assumed that the work space information of unmanned boat is known, unmanned boat is operated in two-dimensional space, the two-dimensional space is divided into size phase With grid, in these grids if no barrier be free grid, be otherwise barrier grid；
(2) node is selected
Reached home T from starting point S assuming that having m ant, when ant k in t from present node i when, select next The probability P of individual node j transfersijFor:
Wherein w represents to be possible to the probable value of the node of selection, τijRepresent the pheromone concentration of t；ηijFor subsequent node Inspiration value, heuristic factor ηij=1/dij, wherein dijRepresent node i to j distance；allowedkRepresent that ant k next step permits Perhaps the node of selection.
(3) Pheromone update
Pheromone update is divided into real time information element and updated and routing information element renewal, and real time information element, which updates, refers to each ant The pheromones of the node must be all updated after a certain node is selected, i.e.,
τij=(1- ρ) τij+ρτ0
Wherein, τ0For pheromones initial value, ρ is the adjustable parameter of interval [0,1]；
Routing information element is updated to：When all ants from start node go to terminal, when completing iterative search successively, selection is all The path length that ant passes through most short paths, update the pheromones of each node on the paths, i.e.,
τij=(1- ρ) τij+ρΔτij
Wherein, Δ τij=1/L*, L*For the length of shortest path；
(4) self-adaptive genetic operator
Pheromones volatility coefficient
ρijIt is the pheromones volatility coefficient between path node i and path node j, TauminIt is minimum pheromones value, TauijIt is Pheromones value between path node i and path node j, e-1It is regulation ρijThe coefficient of size；
Self-adaptive genetic operator redesigns step as follows on the basis of traditional ant group algorithm：
Step 1, construction solution space；
Step 2, initiation parameter；
Step 3, every ant select next feasible node according to select probability；
Step 4, in certain iteration ranges, whether optimal value changes, if not changing, update volatility coefficient value；
Step 5, local information element and global information element update；
Step 6, meet stopping criterion for iteration, output result；
It is resulting from reach home T optimal paths of starting point S be course line that unmanned boat is navigated by water when running into barrier.
3. it is according to claim 1 or 2 based on the unmanned boat collision prevention method for improving ant group algorithm, it is characterized in that：It is described to obtain The position of barrier and the position and attitude information of unmanned boat is taken to include measuring nobody by satellite, tensioning lock, the underwater sound, laser and radar The positional information of ship and barrier, the bow of unmanned boat is measured to attitude information from gyro compass, motion reference units.
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