CN107168335A - A kind of unmanned surface vehicle path trace method of guidance for considering mixing multiple target avoidance - Google Patents
A kind of unmanned surface vehicle path trace method of guidance for considering mixing multiple target avoidance Download PDFInfo
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Abstract
The invention discloses a kind of unmanned surface vehicle path trace method of guidance for considering mixing multiple target avoidance, guidance process is divided into path trace and avoidance manipulates guidance both of which, to improve DVS guidance algorithms as basic boom, the smooth reference path being made up of straight line and curve is gone out by GVS Dynamic Programmings, path trace pattern and avoidance operating pattern correspond to different DVS boot variable respectively.For the avoidance guidance of multiple or mixing barrier, it will be judged according to priority ranking and avoidance operating condition determine current avoidance target first, start avoidance operating pattern, transition function ensures slickness of the DVS boot variables between different mode switching.The present invention has applicability to various control strategy, is easy to combine compared with advanced control algorithm, the effect of control algolithm is to ensure convergence of the real ship to DVS, it is ensured that the validity of Guidance.
Description
Technical field
Field is navigated by water the present invention relates to ship control engineering and shipboard automation, considers to mix more particularly, to one kind
The unmanned surface vehicle path trace method of guidance of multiple target avoidance.
Background technology
Realize that the flight path holding of ship and collision prevention/avoidance are the key technologies of ship motion controller by Guidance.Ship
The guidance algorithm of oceangoing ship path trace mainly has visual range (LOS) guidance algorithm and dynamic virtual canoe using wide at present
(DVS) guidance algorithm.Obstacle avoidance algorithm can use for reference the control of mobile robot and land dolly, be managed using based on nonlinear Control
Barrier by stable limit cycle (stable limit cycles) concept evades algorithm, i.e. limit cycle obstacle avoidance algorithm, the avoidance
Algorithm has the advantages that to buffet that small, security performance is high, avoidance smooth trajectory.The guidance algorithm of above-mentioned ship path trace is kept away together
The Guidance that barrier algorithm is combined turns into the focus of Recent study.Below with regard to the ship guidance algorithm of existing path trace
Briefly introduced with the Guidance that limit cycle obstacle avoidance algorithm is combined.
The LOS Guidances of guidance algorithm combination obstacle avoidance algorithm are given in document [1].The original substantially of LOS guidance algorithms
Reason is as shown in Figure 1：In forward direction distanceOn the premise of fixation, LOS guidance algorithms are according on real ship position and straight-line reference path
Point AFBetween geometrical relationship obtain the path trace of each sampling time point and expect yaw angle ψlos, pace upKeep not
Become, and then guide ship to realize the tracking to straight-line reference path.The strategy of the guidance can make real ship exponential convergence to reference
On straight line path.
In Fig. 1, Pi-1PiThe straight line path currently tracked for real ship, d be real ship to the vertical line distance in path, (x, y) is
The current position coordinates of real ship, then can obtain：
Consider the drive lacking characteristic of real ship, the compensation of drift angle is introduced into angle in expectation bow, then can obtain path trace
Expect bow to angle：
When ship enters way point PiSteering Boundary Loop (circle of acceptance) when, the track path of ship
Switch to PiPi+1。
It can be seen that from above-mentioned derivation：LOS guidance algorithms do not possess the path planning function at turning point, if turned to
The failure that guidance algorithm occurs in barrier is run at point.Meanwhile, the algorithm has not been met that " all reference paths can be by void
Intend the hypothesis that canoe is produced ", it is difficult to the correlative study result with path following control is combined.
When single ship can be met, its position relative to real ship is perceived by being virtually defined on the detection ring that can be met on ship.
Under path trace pattern, if avoidance operating condition meets, real ship by path trace pattern switching to avoidance operating pattern, it is preceding
Enter motion by upAccelerate to avoidance speed uoa, and expect bow to angle ψ according to avoidanceoaGuiding navigation.Avoidance expects that bow can to angle
Ship radius can be met less than on the stable safety margins ring of radius of investigation by being converged to guide real ship, it is ensured that real ship and can meet ship
Safe distance between oceangoing ship.The parameter declaration of the Robot dodge strategy is as shown in Figure 2.
As shown in Fig. 2 detection ring radius is Rm, safety margins ring radius is Ro, when real ship is entered inside detection ring,
Start avoidance operating pattern if real ship arrival ship distance delta meets following avoidance operating condition.
Robot dodge strategy geometrical relationship as shown in Figure 2 is understood：
V0=-uccos(φ-θ)
Under avoidance operating pattern, avoidance expects bow to angle ψoaChoose as follows：
In formula (5), error e=σ-Ro；Δ be avoidance operating pattern under manually set forward direction distance (Looking
ahead distance)；λ is chosen for ± 1 ,+1 expression according to COLREGs requirement and is directed around safety margins with clockwise
Ring, -1 represents to be directed around with counterclockwise；K, which is used for compensation, can meet ship motion to bow to angle ψoaThe influence caused, is defined as：
Wherein,The Robot dodge strategy is in order to ensure avoidance mistake
The rapidity of journey, avoidance speed necessarily meets uoa≥uc≥V0。
It ensure that the actual bow of real ship to angle and actual pace to expecting bow to angle and pace in control algolithm
Effective convergence precondition under, position and avoidance operating condition of this Guidance according to current barrier, in path trace
Toggled between pattern and avoidance operating pattern.When two ships can be met, collision prevention task is first carried out, avoidance expects yaw angle
Selection Strategy, which can ensure that real ship is converged to, to be come on the safety margins ring of ship, when avoidance operating condition is unsatisfactory for, and real ship is returned from new
Onto the path trace task in straight-line reference path.Correspond to therewith, the expectation pace of real ship also can be according to mission mode
It is different and switch over.The implementation procedure of the Guidance is as shown in scheme 3.
Possesses curved section path planning ability extremely important.For path following control part, not only need to join straight line
Examine path to be planned, and also need to carry out curved section path planning in turning point annex；For avoidance obstacle part, due to
The position that barrier occurs is not known, so, curved section path planning is particularly important to the validity of avoidance.
In addition, ship avoidance/collision prevention behavior occurs mainly in the complicated ocean ring such as narrow busy water channel or fishing boat operation area
Under border, Robot dodge strategy should tackle a variety of collision preventions/avoidance condition as far as possible and with flexible, intelligent to embody ship height
The demand of navigation.
Meanwhile, the validity of ship path trace and avoidance guidance is only ensured by control strategy, guidance algorithm
Same control algolithm should be easy to be combined.
Therefore, the LOS guidance algorithms illustrated in document [1] integrate the defect that the Guidance of avoidance obstacle is present, always
Knot is as follows：
(1) guidance algorithm is set up based on LOS path homing guidance algorithm, therefore has also followed lacking for LOS guidance algorithms
Fall into.The algorithm does not possess the path planning function at turning point, if barrier is run at turning point occurs guidance algorithm
Failure；The algorithm is unsatisfactory for " hypothesis that all reference paths can be produced by virtual canoe ", it is difficult to same to underactuated surface vessel
Path following control correlative study result is combined.
(2) guidance algorithm does not possess the function to multi-obstacle avoidance avoidance, and the situation of collision prevention can be met by being suitable only for single ship,
Be not suitable under complicated marine environment and high-speed craft avoidance obstacle.In addition, the guidance algorithm path trace pattern and avoidance behaviour
There is step in the handoff procedure of longitudinal mode formula, handoff procedure is unsmooth.
Bibliography
[1]S.Moe,K.Y.Pettersen.Set-Based Line-of-Sight(LOS)Path Following
with Collision Avoidance for Underactuated Unmanned Surface Vessel[C].24th
Mediterrean Conference on Control and Automation, 2016:402-409.
The content of the invention
There is provided one kind it is easy to same control algolithm mutually to tie it is an object of the invention to the drawbacks described above for overcoming prior art to exist
Close and the DVS guidance algorithms with curved section path planning ability, the guidance algorithm not only overcomes lacking for LOS guidance algorithms
Fall into, the time requirement of path trace is also met to a certain extent.In addition, the present invention is provided with collision prevention priority and corresponding
Bow realizes ship to the effective of many stationary obstructions, many dynamic barriers and mixing barrier to angle and speed planning strategy
Avoidance.
To achieve the above object, technical scheme is as follows：
A kind of unmanned surface vehicle path trace method of guidance for considering mixing multiple target avoidance, comprises the following steps：
S1：Set way point information W1,W2,…,Wn, the motion of the virtual canoe of guiding and dynamic virtual canoe is set up respectively
Mathematical modeling；
S2：Guide virtual canoe and reference path is cooked up according to guidance algorithm, and travelled all the time along reference path, start road
Footpath homing guidance pattern, the bow of dynamic virtual canoe is true relative to dynamic virtual canoe equal to virtual canoe is guided to the angle moment
Azimuth, and guidanuce command is sent to real ship, to guide real ship to carry out path trace, real ship constantly obtains dynamic virtual canoe
Guide variable；
S3：Sampled in sampling time point, judge that whether ring is surveyed in barriers to entry physical prospecting to dynamic virtual canoe, such as enters barrier
Physical prospecting is hindered to survey ring, barriers to entry thing sequencer procedure performs S4；Obstacle detection ring is such as introduced into, path trace guided mode is kept
Formula, performs S6；
S4：Barriers to entry thing sequencer procedure：Priority to avoidance thing is ranked up, and obtains the priority sequence of barrier
Row, choose limit priority barrier as current avoidance target, judge whether current avoidance target meets avoidance operating condition,
If current avoidance goal satisfaction avoidance operating condition, into the avoidance guided mode to current barrier, that is, performs S5；If working as
Preceding avoidance target is unsatisfactory for avoidance operating condition, and the barrier for choosing sub-priority is used as current avoidance target；If all obstacles
Thing is all unsatisfactory for avoidance operating condition, then access path tracing mode, performs S6；
S5：Into avoidance guided mode：In each sampling time point, judge current barrier avoidance operating condition whether
Meet, such as meet avoidance operating condition, then start the avoidance guided mode to current barrier, obtain leading for dynamic virtual canoe
Draw variable, the real ship of guiding；Avoidance operating condition is such as unsatisfactory for, then current barrier is removed from barrier priority sequence, and
Perform S4；
S6：According to the guiding variable and control strategy of dynamic virtual canoe, the actuator input of the real ship of adjustment in real time, control
Real ship tracks dynamic virtual canoe；
S7：The real ship position of measurement, judges whether to reach home, if it is, terminating ship's navigation, if it is not, then performing S2.
Further, in S1, the expression formula of the motion mathematical model of the virtual canoe of guiding and dynamic virtual canoe is：
Wherein, d represents dynamic virtual canoe, and g represents the virtual canoe of guiding, and (x, y) is position coordinates,Respectively away from
From first derivative, ψ be bow to angle, u is pace, and r is heading rate.
Further, in S4, the generation method of described barrier priority sequence is：
S41：Barrier is divided into static-obstacle thing and dynamic barrier, the priority of static-obstacle thing is higher than dynamic disorder
The priority of thing；
S42：The priority of static-obstacle thing and dynamic virtual canoe to the big apart from e of the static-obstacle thing safety margins ring
Small to be inversely proportional, barrier minimum e possesses highest priority；
S43：The priority of dynamic barrier is determined by following equation
Wherein, F is evaluation function, RmFor the radius of obstacle detection ring, RoFor the radius of safety margins ring, e is dynamic void
Intend canoe to the distance of the safety margins ring of the dynamic barrier,For dynamic virtual canoe under path trace pattern itself and barrier
Hinder the derivative of thing distance, udoThe avoidance speed of dynamic virtual canoe is represented, is a constant, its value is greater than all dynamic disorders
The speed of thing,For weight parameter.
Further, in S4, the avoidance operating condition is divided into the avoidance operating condition of static-obstacle thing and to dynamic
The avoidance operating condition of barrier, the avoidance operating condition to static-obstacle thing is：The bow of dynamic virtual canoe is to dynamic
The virtual canoe of state is between two tangent lines of the safety margins ring of static-obstacle thing；The avoidance to dynamic barrier manipulates bar
Part is following equation：
Wherein, σ is dynamic virtual canoe to the distance of dynamic barrier, RoFor the half of the limiting safe ring of dynamic barrier
Footpath, RmFor dynamic barrier detection ring radius,For dynamic virtual canoe under path trace pattern to dynamic disorder object distance
From derivative.
Further, path trace guided mode and during the switching of avoidance guided mode and different barrier avoidance guidance
During pattern switching, using following time transition function：
Wherein, α (t) is time transition function, tcFor starting switching time point, tsFor the transit time manually set.
Further, in the avoidance guided mode described in S5, the speed u of dynamic virtual canoedIt is adjusted to avoidance speed, bow
Chosen in following manner to angle：
S51：Such as current avoidance target is static-obstacle thing, then
Wherein, ψdoBe bow of the dynamic virtual canoe in avoidance guided mode to angle, φ is static-obstacle thing relative dynamic
The true azimuth of virtual canoe, Δ is the forward direction distance of setting, and λ=± 1 determines to surround static barrier during dynamic virtual canoe avoidance
Hinder the direction of thing ,+1 is around the safety margins ring of static-obstacle thing, -1 is counterclockwise around static barrier clockwise
Hinder the safety margins ring of thing；
S52：Such as current avoidance target is dynamic barrier, then
Wherein, φ is the true azimuth of the virtual canoe of dynamic barrier relative dynamic, and Δ is the forward direction distance of setting, and k is
Compensating parameter, λ=± 1 ,+1 is around the safety margins ring of dynamic barrier, -1 is counterclockwise around dynamic barrier clockwise
Safety margins ring.
Further, in S2, the guiding variable of the dynamic virtual canoe includes bow to angle ψdWith pace ud, bow to
Angle ψdCalculation formula be：
Wherein, g represents GVS, and d represents DVS, and (x, y) is position coordinates；
Pace udCalculation formula be：
Wherein, kdFor the setup parameter for adjusting convergence rate speed, ldgIt is virtual small to guiding for dynamic virtual canoe
The distance of ship, ugTo guide the pace of virtual canoe, ψgTo guide the bow of virtual canoe to angle, ψdFor dynamic virtual canoe
Bow to angle, ldbsetSet for the upper limit of real ship to the distance of dynamic virtual canoe, ldbFor real ship to dynamic virtual canoe away from
From.
Further, in S3, the radius R of the obstacle detection ringmDetermined according to the size of barrier, barrier is got over
Greatly, its value is bigger.
It can be seen from the above technical proposal that the present invention by guidance process by being divided into path trace and avoidance manipulation guidance
Both of which, to improve DVS guidance algorithms as basic boom, the smooth ginseng being made up of straight line and curve is gone out by GVS Dynamic Programmings
Path is examined, path trace pattern and avoidance operating pattern correspond to different DVS boot variable respectively.For multiple or mixing
Barrier avoidance guidance, will be judged according to priority ranking and avoidance operating condition determine current avoidance target first,
Start avoidance operating pattern, transition function ensures slickness of the DVS boot variables between different mode switching.The present invention is right
Various control strategy has applicability, is easy to combine compared with advanced control algorithm, the effect of control algolithm is to ensure real ship
Convergence to DVS, it is ensured that the validity of Guidance.
Brief description of the drawings
Fig. 1 is the general principle figure of LOS guidance algorithms in the prior art；
Fig. 2 is the schematic diagram of the Robot dodge strategy that single ship can be met in the prior art；
Fig. 3 is the flow chart of the guidance algorithm of LOS path tracking and avoidance in the prior art；
Fig. 4 is the general principle figure of the improved DVS guidance algorithms of the present invention；
Fig. 5 is a kind of schematic diagram of many static object avoidance situation；
Fig. 6 is a kind of schematic diagram of many dynamic object avoidance situation；
Fig. 7 is a kind of schematic diagram for mixing multiple target avoidance situation；
Fig. 8 is the parameter schematic diagram in the mixing multiple target avoidance situation of the present invention；
Fig. 9 is the flow chart of the unmanned surface vehicle path trace method of guidance of the consideration mixing multiple target avoidance of the present invention；
Figure 10 is the schematic diagram of Maritime Affairs University Of Dalian's Practice Teaching Ship " educating enormous legendary fish, which could change into a roc " wheel；
Figure 11 is the three-dimensional corrugated schematic diagram under 6 grades of sea situations of Pu Fu wind；
Figure 12~Figure 15 is t=240s, 290s, 345s, real ship trajectory diagram during 600s respectively；
Figure 16 is the time changing curve of the DVS boot variables in a specific embodiment；
Figure 17 is the pitch P of control input one in a specific embodiment and rudder angle δ time changing curve.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is described in further detail.
It should be noted that in following embodiments, when embodiments of the present invention are described in detail, in order to clear
Ground represents the structure of the present invention in order to illustrate, spy, not according to general scale, and has carried out part to the structure in accompanying drawing
Amplification, deformation and simplified processing, therefore, should avoid being understood in this, as limitation of the invention.
In embodiment of the invention below, referring to Fig. 9, the consideration mixing multiple target that Fig. 9 is the present invention is kept away
The flow chart of the unmanned surface vehicle path trace method of guidance of barrier, with reference to Fig. 4~Fig. 8 is referred to, further understands to the present invention.Such as
Shown in Fig. 9, consideration of the invention mixes the unmanned surface vehicle path trace method of guidance of multiple target avoidance, comprises the following steps：
S1：Set way point information W1,W2,…,Wn, the motion of the virtual canoe of guiding and dynamic virtual canoe is set up respectively
Mathematical modeling.
S2：Guide virtual canoe and reference path is cooked up according to guidance algorithm, and travelled all the time along reference path, start road
Footpath homing guidance pattern, the bow of dynamic virtual canoe is true relative to dynamic virtual canoe equal to virtual canoe is guided to the angle moment
Azimuth, and guidanuce command is sent to real ship, to guide real ship to carry out path trace, real ship constantly obtains dynamic virtual canoe
Guide variable.
In above-mentioned steps, referring to Fig. 4, Fig. 4 is the principle of the guidance algorithm of improved dynamic virtual canoe (DVS)
Figure.In this guidance algorithm, it is the preferable canoe for not considering inertia force and damping force to guide virtual canoe (GVS) and DVS, only
Consider plane motion, they take the independent motion math equation to be respectively：
Wherein, d represents dynamic virtual canoe, and g represents the virtual canoe of guiding, and (x, y) is position coordinates,Respectively away from
From first derivative, ψ be bow to angle, u is pace, and r is heading rate.
GVS is according to setting way point Wi-1,Wi,Wi+1Information, cook up reference path according to tradition DVS guidance algorithms,
That is GVS position and posture time series.Reference path is divided into the curve reference arm at straight-line reference path sections and way point
Path portion, curved section reference path is produced by the interpolation method of circular arc, and the curved section reference path is solved to exist in the prior art
The problem of way point annex can not be guided.Set GVS longitudinal velocity urWith turn bow angular speed rr, real ship actuator performance is met,
Navigated by water according to the kinematic relation of formula (7) along straight line and curved section reference path.
In traditional DVS guidance algorithms, a DVS is generated between real ship and GVS as the direct tracking target of real ship,
Its position is fixed on real ship and GVS line, and DVS position suffers restraints, and is not suitable with the guidance of multiple target avoidance/collision prevention.
In order to further meet the requirement of avoidance/collision prevention guidance, the present invention is improved DVS guidance algorithms, i.e. DVS generation
No longer limited by GVS and real ship position, be regarded as the target independently navigated by water according to kinematic relation shown in formula (7).
Under path trace pattern, DVS bows are to angle moment ψdIt is chosen for true azimuth ψs of the GVS relative to DVSdp, i.e. formula (8)：
Wherein, g represents GVS, and d represents DVS, and (x, y) is position coordinates.
In order to ensure exponential convergences of the DVS to GVS positions under path trace pattern, path trace DVS speed is defined as
Formula (9), makes ud=udp
Wherein, kdFor the setup parameter for adjusting convergence rate speed, its value is bigger, udpBigger, DVS restrains to GVS
Faster, it is bigger to be thus likely to result in the input of real ship actuator, is chosen so should be compromised according to actuator ability.ldbsetArrived for real ship
The upper limit of DVS distances is set, and the selection of its value is also determined by the actuator ability of ship, ldgIt is empty to guiding for dynamic virtual canoe
Intend the distance of canoe, ugTo guide the pace of virtual canoe, ψgTo guide the bow of virtual canoe to angle, ψdFor dynamic virtual
The bow of canoe is to angle, ldbFor the distance of real ship to dynamic virtual canoe.From formula (9) as can be seen that DVS path traces speed and reality
Ship is to DVS apart from ldbIt is linear.Work as ldb=ldbsetWhen, speed udp=0, this explanation is under path trace pattern, DVS
Without departing from the l centered on real shipdbsetFor within the scope of the circle of radius.The setting ensure that under path trace pattern, will not go out
Now because real ship is excessive apart from the actuator input that DVS positions are produced too far, the design considers the saturated characteristic of actuator.
From discussed above, improve the DVS in DVS guidance algorithms be it is independent, can be according to it relative to obstacle target
Position DVS gesture commands are adjusted in real time to realize that collision prevention/avoidance is guided.
S3：Sampled in sampling time point, judge that whether ring is surveyed in barriers to entry physical prospecting to dynamic virtual canoe, such as enters barrier
Physical prospecting is hindered to survey ring, barriers to entry thing sequencer procedure performs S4；Obstacle detection ring is such as introduced into, path trace guided mode is kept
Formula, performs S6.
S4：Barriers to entry thing sequencer procedure：Priority to avoidance thing is ranked up, and obtains the priority sequence of barrier
Row, choose limit priority barrier as current avoidance target, judge whether current avoidance target meets avoidance operating condition,
If current avoidance goal satisfaction avoidance operating condition, into the avoidance guided mode to current barrier, that is, performs S5；If working as
Preceding avoidance target is unsatisfactory for avoidance operating condition, and the barrier for choosing sub-priority is used as current avoidance target；If all obstacles
Thing is all unsatisfactory for avoidance operating condition, then access path tracing mode, performs S6.
S5：Into avoidance guided mode：In each sampling time point, judge current barrier avoidance operating condition whether
Meet, such as meet avoidance operating condition, then start the avoidance guided mode to current barrier, obtain leading for dynamic virtual canoe
Draw variable, the real ship of guiding；Avoidance operating condition is such as unsatisfactory for, then current barrier is removed from barrier priority sequence, and
Perform S4.
S6：According to the guiding variable and control strategy of dynamic virtual canoe, the actuator input of the real ship of adjustment in real time, control
Real ship tracks dynamic virtual canoe.
In above process, to DVS, whether barriers to entry physical prospecting survey ring does a judgement first.If into need to be by
Path trace guided mode is changed to avoidance guided mode, in avoidance guided mode, according to the species and number of barrier to barrier
Hinder thing to carry out the sequence of avoidance priority, be sequentially completed avoidance task.
For ease of the sequence of avoidance priority, avoidance task is divided into three kinds of avoidance states as shown in Fig. 5~Fig. 7 by the present invention
Gesture：Respectively many static object avoidance situation, many dynamic object avoidance situation and mixing multiple target avoidance situation.So-called multiple target
Avoidance situation refers to that DVS is in the detection ring of multiple barriers.Because control algolithm can ensure that real ship rapidly converges to DVS
On, it is assumed that the detectivity that DVS possesses barrier is rational.The present invention is right one by one by distributing the priority of barrier
Multiple barriers carry out avoidance, and when the barrier to highest priority carries out avoidance, other barriers are not considered.Because this system
Leading strategy can ensure that DVS rapidly converges to the safety margins ring of barrier (as shown in Figure 8 with radius RoSolid line circle)
On, and there is also the safety of safe distance, i.e. barrier (between such as many ships, between ship and islands and reefs) between barrier
It will not intersect between limit cycle, so when DVS carries out avoidance to some barrier, will not be disturbed by other barriers.
The radius R of obstacle detection ring shown in Fig. 8mWith the radius R of safety margins ringoDetermined according to the size of barrier, barrier
Bigger, its value is bigger.In fact, obstacle detection ring and safety margins ring are a kind of embodiments of real ship detectivity.The present invention
The many static state avoidance DVS according to Fig. 8 of regulation determine the excellent of static-obstacle thing apart from the size apart from e of safety margins ring
First level, barrier minimum e possesses highest priority, the like；For many dynamic obstacle avoidances, then according to evaluation function most
Bigization principle determines priority, and the formula of evaluation function is as follows：
Wherein, F is evaluation function, RmFor the radius of obstacle detection ring, RoFor the radius of safety margins ring, e is dynamic
Virtual canoe to the safety margins ring of the dynamic barrier distance,For dynamic virtual canoe under path trace pattern its with
The derivative of obstacle distance, udoThe avoidance speed of dynamic virtual canoe is represented, is a constant, its value is greater than all dynamic barriers
Hinder the speed of thing, to ensure the validity of avoidance, while meeting the requirement of real ship actuator performance；For weight parameter, its value is got over
Greatly, then it represents that the distance of DVS and barrier is more important in evaluation function, DVS is more inessential to the relative velocity of barrier, instead
It is as the same.For there is static and dynamic barrier simultaneously, Guidance regulation static-obstacle thing has compared to dynamic
There is higher priority, after being ranked up to the priority of whole static-obstacle things, then to the preferential grading of dynamic barrier
Row sequence.
It is determined that after barrier priority orders, then whether being met according to avoidance operating condition and deciding whether to start avoidance
Operating pattern.As shown in figure 8, for static-obstacle thing, its avoidance operating condition is DVS bow in tangent line l1And l2Between；It is right
In dynamic barrier, its avoidance operating condition is shown below：
Wherein, σ is dynamic virtual canoe to the distance of dynamic barrier, RoFor the half of the limiting safe ring of dynamic barrier
Footpath, RmFor dynamic barrier detection ring radius,For dynamic virtual canoe under path trace pattern to dynamic disorder object distance
From derivative.That is, when dynamic virtual canoe enters in the safety margins ring of dynamic barrier, illustrate to need avoidance at once, it is no
It can then collide；When dynamic virtual canoe enter detection ring in and path trace pattern under dynamic virtual canoe to dynamic hinder
When hindering the derivative of thing distance less than 0, illustrate the danger for having collision, it is necessary to the collision free that takes measures.
If the barrier of higher priority is unsatisfactory for avoidance operating condition, algorithm transfers to find keeping away for next priority
Hinder operating condition；If all barriers are all unsatisfactory for avoidance operating condition, algorithm keeps path trace pattern constant；If
Current priority barrier meets avoidance operating condition, then starts avoidance operating pattern.Start each after avoidance operating pattern
Sampling time point, guidance algorithm is no longer ranked up to barrier priority, only judges the avoidance operating condition of current barrier
Whether still meet, if it is not satisfied, then exiting avoidance operating pattern, the relative position of DVS and barrier is judged, if DVS is in
In obstacle detection ring, then restart priority ranking, otherwise start path trace pattern.
Under avoidance operating pattern, DVS speed u firstdTarget avoidance speed u can be adjusted todo.To static-obstacle target
Avoidance DVS bows are chosen for following formula to angle：
Wherein, ψdoBe bow of the dynamic virtual canoe in avoidance guided mode to angle, φ is static-obstacle thing relative dynamic
The true azimuth of virtual canoe, Δ is the forward direction distance of setting, and its value is smaller, and DVS is faster to the convergence rate of limit cycle, thus
Real ship steering angle is likely to result in larger, so should flexibly be chosen according to real ship steering capability.λ=± 1 is determined around static state
The direction of barrier ,+1 is around the safety margins ring of static-obstacle thing, -1 is counterclockwise around static-obstacle thing clockwise
Safety margins ring.
The avoidance DVS bows of dynamic disorder target are chosen for angle：
Wherein, φ is the true azimuth of the virtual canoe of dynamic barrier relative dynamic, and Δ is the forward direction distance of setting, and k is
Compensating parameter, it defines same formula (6), V0=ucCos (π-φ+θ), ucFor the speed of current dynamic barrier,B=-2eV0 2, c=- (Δs2+e2)V0 2.λ=± 1 ,+1 is clockwise around the safety margins of dynamic barrier
Ring, -1 is counterclockwise around the safety margins ring of dynamic barrier.When dynamic barrier is single ship time, λ selection should be met《State
Border Rules of Navigation》(COLREGs) requirement, when dynamic barrier is other, such as floating object, is selected according to following principle
Take：
Wherein, ψdpTo guide true azimuth of the virtual canoe relative to dynamic virtual canoe,It is relative for dynamic barrier
The true azimuth of dynamic virtual canoe.I.e. when the virtual canoe of guiding is less than or equal to move relative to the true azimuth of dynamic virtual canoe
During the true azimuth of the virtual canoe of state barrier relative dynamic, then λ=+ 1, surround dynamic barrier clockwise；When guiding is virtual
Canoe is less than or equal to the true azimuth of the virtual canoe of dynamic barrier relative dynamic relative to the true azimuth of dynamic virtual canoe
When, then λ=- 1, surround dynamic barrier counterclockwise.The barrier of formula (14) ensure that to barrier around direction selection principle
Minimum ring around length, reduce voyage waste.
In order to ensure DVS guidance variables (ud,ψd) manipulated in avoidance and during the switching of path trace both of which and different barrier
Hinder the slickness during switching between thing avoidance, introduce the time transition function as shown in formula (15)：
Wherein, α (t) is time transition function, tcFor starting switching time point, tsFor the transit time manually set, its value
Selection should ensure that transition is gentle as much as possible on the premise of avoidance security performance is not influenceed.With ψdExemplified by, its handoff procedure
As shown in formula (16)：
ψd(t)=(1- α) ψd_start+αψd_end (16)
Wherein, ψdWill be in tsCompleted in time from switching starting bow to angle ψd_startTo target pattern bow to angle ψd_endMistake
Cross, its transient process is smooth.For udFor, because target avoidance speed udoIt is manually set, and for barrier used
Hinder thing all constant, so udTransition only have udp→udo,udo→udpTwo kinds of situations.
S7：The real ship position of measurement, judges whether to reach home, if it is, terminating ship's navigation, if it is not, then performing S2.
In summary, guidance process is divided into path trace by the present invention and avoidance manipulates guidance both of which, to improve DVS
Guidance algorithm is basic boom, and the smooth reference path being made up of straight line and curve, path trace pattern are gone out by GVS Dynamic Programmings
Correspond to different DVS boot variable respectively with avoidance operating pattern.It is first for the avoidance guidance of multiple or mixing barrier
It will first be judged according to priority ranking and avoidance operating condition and determine current avoidance target, start avoidance operating pattern, transition
Function ensures slickness of the DVS boot variables between different mode switching.The present invention can also have to various control strategy
Applicability, is easy to combine compared with advanced control algorithm, the effect of control algolithm is to ensure convergence of the real ship to DVS, it is ensured that
The validity of Guidance.
In order to verify the validity of guidance algorithm proposed by the invention, this part will be with Maritime Affairs University Of Dalian's Practice Teaching Ship
" educating enormous legendary fish, which could change into a roc " (such as Figure 10) is controlled device, and computer simulation experiment is carried out using matlab.Table 1 gives the master of " educating enormous legendary fish, which could change into a roc " wheel
Want scale parameter.Here Three Degree Of Freedom drive lacking mathematical modeling (17) is used, its related hydrodynamic force coefficient is based in September, 2013
The real ship maneuverability test of series that " educating enormous legendary fish, which could change into a roc " wheel is carried out, is obtained using AS identification algorithm.
Table 1. " educating enormous legendary fish, which could change into a roc " takes turns major parameter
Wherein high-order fluid dynamic item expression formula is
Wherein, P is pitch, and δ is rudder angle, is used as the input of control system.
In the example, planned course is by 4 way point W1(200,0), W2(200,1000), W3(1200,1500), W4
(1200,2500) determine.Many static-obstacle things, many dynamic barriers and sound mixing obstacle are set near planned course
Thing, simulation ship is passing through the situation in many islands and reefs waters and shipping crowded waters.Ship original state is [x, y, ψ, u, v, r]T=0
=[0m, 0m, 90deg, 0m/s, 0m/s, 0deg/s], guidance algorithm parameter is set to：ug=10Kn, udo=12Kn, ldbset=
200m, kd=0.05, Δ=20m,ts=2s in order to more press close to consider in true environment, emulation wind, wave, stream
Marine environment is disturbed.Control algolithm robust nerve damping control rule, this application embodies the present invention and advanced control algorithm
Good combination.
Emulation experiment institute use environment is disturbed：Wind speed (6 grades of Pu Fu wind) Vwind=15.25m/s, wind direction ψwind=
50deg；Sea wave disturbance is disturbed Model coupling and produced by air-drying, and is the fully wave of growth generation, figure in the case of 7 grades of Pu Fu wind
11 give the 3-D view of experiment sea wave disturbance；Ocean current Vcurrent=0.5m/s, flows to βcurrent=280deg.Figure 12~figure
15 give under these experimental conditions, the real ship trajectory diagram that 4 time points are obtained using the Guidance of the present invention.It can see
Go out the guidance and control strategy ensure that real ship is effectively converged in avoidance on the safety margins ring of barrier, avoidance terminates
Quickly it revert in path trace pattern afterwards, single ship avoidance meets COLREGs requirement, many ship avoidances are held according to priority orders
Row avoidance task.Figure 16 gives the boot variable that Guidance obtains and changed with time in whole experiment process, can be with
Find out that the introducing of transition function in Guidance ensure that the smooth transition of boot variable between pattern switching.Figure 17 gives reality
Control input-pitch P and rudder angle δ during testing, control input meet the requirement of actuator bounded, buffet smaller, Ke Yizhi
The input as actuator is connect, presses close to engineering actual.
Contrasted by above-mentioned emulation experiment, and with having studied, the beneficial effect for now bringing the present invention is summarized as
3 points below：
1) present invention proposes a kind of suitable for there is many static objects, many dynamic objects and mixing multiple target barrier
The improvement DVS guidance technologies of complicated sailing situation, the scope of application is wider.The guidance algorithm proposed is creatively by ship path
Homing guidance is combined with mixing avoidance guidance.Mixing avoidance control plane fixture under this strategy has many static-obstacle thing avoidances, many
The ability of dynamic barrier avoidance and mixing multiple target barrier avoidance, after avoidance task is terminated, ship can be returned rapidly
Onto path trace task, its scope of application is wider.
2) Robot dodge strategy based on limit cycle may insure that ship is rapidly converged on the safety margins ring of barrier, peace
Full performance is higher.In the algorithm, by rationally designing the safety margins ring and detection ring of avoidance target (by the measurement of ship-borne equipment
Ability decision, such as radar, video camera) recovery boat after the security domain degree of ship avoidance manipulation and avoidance manipulation can be adjusted flexibly
The convergence rate of line.In Practical Project, the safety margins ring and detection ring of avoidance target are a kind of embodiments of real ship detectivity,
The process that ring is surveyed in real ship barriers to entry physical prospecting is equivalent to the process that barrier enters real ship investigative range, therefore this guidance algorithm is easy to
Project Realization.
3) Guidance proposed by the present invention inherits the advantage of DVS Guidances, can be in straightway, curved section course line
And rationally effective guidance mechanism is provided under a variety of ship's navigation situation, guiding ship completes intelligent navigational duty；The strategy
Versatility with control theory, is that bridge has been built in the combination of advanced control algorithm and engineering practice；The strategy considers ship
The limitation of oceangoing ship performs device, meets the theme of " green, energy-conservation ".
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of unmanned surface vehicle path trace method of guidance for considering mixing multiple target avoidance, it is characterised in that including following step
Suddenly：
S1：Set way point information W1,W2,…,Wn, the motion mathematics of the virtual canoe of guiding and dynamic virtual canoe is set up respectively
Model；
S2：Guide virtual canoe and reference path cooked up according to guidance algorithm, and travelled all the time along reference path, start path with
Track guided mode, the bow of dynamic virtual canoe is equal to the angle moment guides true bearing of the virtual canoe relative to dynamic virtual canoe
Angle, and guidanuce command is sent to real ship, to guide real ship to carry out path trace, real ship constantly obtains the guiding of dynamic virtual canoe
Variable；
S3：Sampled in sampling time point, judge whether ring, such as barriers to entry thing are surveyed in barriers to entry physical prospecting to dynamic virtual canoe
Ring is detected, barriers to entry thing sequencer procedure performs S4；Obstacle detection ring is such as introduced into, path trace guided mode is kept, holds
Row S6；
S4：Barriers to entry thing sequencer procedure：Priority to avoidance thing is ranked up, and obtains the priority sequence of barrier, choosing
Take limit priority barrier as current avoidance target, judge whether current avoidance target meets avoidance operating condition, if working as
Preceding avoidance goal satisfaction avoidance operating condition, then into the avoidance guided mode to current barrier, that is, perform S5；If currently keeping away
Barrier target is unsatisfactory for avoidance operating condition, and the barrier for choosing sub-priority is used as current avoidance target；If all barriers are all
Avoidance operating condition is unsatisfactory for, then access path tracing mode, performs S6；
S5：Into avoidance guided mode：In each sampling time point, judge whether the avoidance operating condition of current barrier is full
Foot, such as meets avoidance operating condition, then starts the avoidance guided mode to current barrier, obtains the guiding of dynamic virtual canoe
Variable, the real ship of guiding；Avoidance operating condition is such as unsatisfactory for, then current barrier is removed from barrier priority sequence, and hold
Row S4；
S6：According to the guiding variable and control strategy of dynamic virtual canoe, the actuator input of the real ship of adjustment in real time, the real ship of control
Track dynamic virtual canoe；
S7：The real ship position of measurement, judges whether to reach home, if it is, terminating ship's navigation, if it is not, then performing S2.
2. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in S1, the expression formula of the motion mathematical model of the virtual canoe of guiding and dynamic virtual canoe is：
<mrow>
<mrow>
<mo>{</mo>
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>u</mi>
<mi>i</mi>
</msub>
<msub>
<mi>cos&psi;</mi>
<mi>i</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>y</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>u</mi>
<mi>i</mi>
</msub>
<msub>
<mi>sin&psi;</mi>
<mi>i</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>&psi;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
<mo>=</mo>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>,</mo>
</mrow>
</mrow>
<mi>i</mi>
<mo>=</mo>
<mi>d</mi>
<mo>,</mo>
<mi>g</mi>
</mrow>
Wherein, d represents dynamic virtual canoe, and g represents the virtual canoe of guiding, and (x, y) is position coordinates,Respectively distance
First derivative, ψ be bow to angle, u is pace, and r is turns bow angular speed.
3. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in S4, the generation method of described barrier priority sequence is：
S41：Barrier is divided into static-obstacle thing and dynamic barrier, the priority of static-obstacle thing is higher than dynamic barrier
Priority；
S42：The priority of static-obstacle thing and dynamic virtual canoe to the static-obstacle thing safety margins ring apart from e sizes into
Inverse ratio, barrier minimum e possesses highest priority；
S43：The priority of dynamic barrier is determined by following equation
Wherein, F is evaluation function, RmFor the radius of obstacle detection ring, RoFor the radius of safety margins ring, e is that dynamic virtual is small
Ship to the safety margins ring of the dynamic barrier distance,For dynamic virtual canoe under path trace pattern itself and barrier
The derivative of distance, udoThe avoidance speed of dynamic virtual canoe is represented, is a constant, its value is greater than all dynamic barriers
Speed,For weight parameter.
4. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in S4, the avoidance operating condition is divided into the avoidance operating condition of static-obstacle thing and dynamic barrier is kept away
Hinder operating condition, the avoidance operating condition to static-obstacle thing is：The bow of dynamic virtual canoe is in dynamic virtual canoe
To between two tangent lines of the safety margins ring of static-obstacle thing；The avoidance operating condition to dynamic barrier is following public affairs
Formula：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&sigma;</mi>
<mo><</mo>
<msub>
<mi>R</mi>
<mi>o</mi>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>&sigma;</mi>
<mo><</mo>
<msub>
<mi>R</mi>
<mi>m</mi>
</msub>
<mo>,</mo>
<msub>
<mover>
<mi>&sigma;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>p</mi>
</msub>
<mo><</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, σ is dynamic virtual canoe to the distance of dynamic barrier, RoFor the radius of the limiting safe ring of dynamic barrier, Rm
For dynamic barrier detection ring radius,For dynamic virtual canoe leading to dynamic barrier distance under path trace pattern
Number.
5. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, when path trace guided mode and the switching of avoidance guided mode and different barrier the switching of avoidance guided mode
When, using following time transition function：
<mrow>
<mi>&alpha;</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mi>&pi;</mi>
<msub>
<mi>t</mi>
<mi>s</mi>
</msub>
</mfrac>
<mo>(</mo>
<mrow>
<mi>t</mi>
<mo>-</mo>
<msub>
<mi>t</mi>
<mi>c</mi>
</msub>
</mrow>
<mo>)</mo>
<mo>-</mo>
<mfrac>
<mi>&pi;</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
Wherein, α (t) is time transition function, tcFor starting switching time point, tsFor the transit time manually set.
6. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in the avoidance guided mode described in S5, the speed u of dynamic virtual canoedAvoidance speed is adjusted to, bow is to angle under
Row method is chosen：
S51：Such as current avoidance target is static-obstacle thing, then
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>d</mi>
<mi>o</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>&phi;</mi>
<mo>+</mo>
<mi>&lambda;</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mi>&pi;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mfrac>
<mi>e</mi>
<mi>&Delta;</mi>
</mfrac>
<mo>)</mo>
<mo>)</mo>
</mrow>
</mrow>
Wherein, ψdoBe bow of the dynamic virtual canoe in avoidance guided mode to angle, φ is that static-obstacle thing relative dynamic is virtual
The true azimuth of canoe, Δ is the forward direction distance of setting, and λ=± 1 determines to surround static-obstacle thing during dynamic virtual canoe avoidance
Direction ,+1 is around the safety margins ring of static-obstacle thing, -1 is counterclockwise around static-obstacle thing clockwise
Safety margins ring；
S52：Such as current avoidance target is dynamic barrier, then
<mrow>
<msub>
<mi>&psi;</mi>
<mi>h</mi>
</msub>
<mo>=</mo>
<mi>&phi;</mi>
<mo>+</mo>
<mi>&lambda;</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mi>&pi;</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mfrac>
<mrow>
<mi>e</mi>
<mo>+</mo>
<mi>k</mi>
</mrow>
<mi>&Delta;</mi>
</mfrac>
<mo>)</mo>
<mo>)</mo>
</mrow>
</mrow>
Wherein, φ is the true azimuth of the virtual canoe of dynamic barrier relative dynamic, and Δ is the forward direction distance of setting, and k is compensation
Parameter, λ=± 1 ,+1 is around the safety margins ring of dynamic barrier, -1 is counterclockwise around the peace of dynamic barrier clockwise
Full limit cycle.
7. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in S2, the guiding variable of the dynamic virtual canoe includes bow to angle ψdWith pace ud, bow is to angle ψdCalculating
Formula is：
<mrow>
<msub>
<mi>&psi;</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<mn>0.5</mn>
<mo>&lsqb;</mo>
<mn>1</mn>
<mo>-</mo>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>d</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mi>sgn</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>d</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<mi>&pi;</mi>
<mo>+</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>y</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>d</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>x</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>d</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
Wherein, g represents GVS, and d represents DVS, and (x, y) is position coordinates；
Pace udCalculation formula be：
<mrow>
<msub>
<mi>u</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<mo>&lsqb;</mo>
<msub>
<mi>k</mi>
<mi>d</mi>
</msub>
<msub>
<mi>l</mi>
<mrow>
<mi>d</mi>
<mi>g</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>u</mi>
<mi>g</mi>
</msub>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&psi;</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<msub>
<mi>&psi;</mi>
<mi>d</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>&CenterDot;</mo>
<mfrac>
<mrow>
<msub>
<mi>l</mi>
<mrow>
<mi>d</mi>
<mi>b</mi>
<mi>s</mi>
<mi>e</mi>
<mi>t</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>l</mi>
<mrow>
<mi>d</mi>
<mi>b</mi>
</mrow>
</msub>
</mrow>
<msub>
<mi>l</mi>
<mrow>
<mi>d</mi>
<mi>b</mi>
<mi>s</mi>
<mi>e</mi>
<mi>t</mi>
</mrow>
</msub>
</mfrac>
</mrow>
Wherein, kdFor the setup parameter for adjusting convergence rate speed, ldgFor dynamic virtual canoe to the virtual canoe of guiding
Distance, ugTo guide the pace of virtual canoe, ψgTo guide the bow of virtual canoe to angle, ψdFor the bow of dynamic virtual canoe
To angle, ldbsetSet for the upper limit of real ship to the distance of dynamic virtual canoe, ldbFor the distance of real ship to dynamic virtual canoe.
8. the unmanned surface vehicle path trace method of guidance according to claim 1 for considering mixing multiple target avoidance, it is special
Levy and be, in S3, the radius R of the obstacle detection ringmDetermined according to the size of barrier, barrier is bigger, and its value is bigger.
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