CN107544500A - A kind of unmanned boat berthing action trail planing method for considering constraint - Google Patents
A kind of unmanned boat berthing action trail planing method for considering constraint Download PDFInfo
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Abstract
The present invention provides a kind of unmanned boat berthing action trail planing method for considering constraint, and distal end is planned：1 calculate current expectation bow to；2 pairs it is expected bow to the nearly obstacle look ahead compensation of progress；3 renewal unmanned boat positions；4 judge whether unmanned boat reaches distal end object of planning point, are to terminate distal end planning to be transferred to the offshore planning stage, otherwise return to step 1.Offshore is planned：1 calculates the expected path for pointing to the i-th i initial value as 1 virtual harbour；2 calculate the distance of unmanned boat distance objective harbour, and harbour constraint is added for current desired speed；3 renewal unmanned boat positions；4 judge whether unmanned boat arrives at i-th of virtual harbour, are to go to step 5, otherwise return to step 2；5 judge whether i-th of virtual harbour is target harbour, is, planning finishes EP (end of program), otherwise makes i=i+1, return to step 1.Present invention employs modified embedded-atom method, and facility is provided for the autonomous berthing control problem of unmanned boat.
Description
Technical field
The present invention relates to the autonomous berthing field of unmanned surface vehicle, more particularly to a kind of unmanned boat berthing behavior for considering constraint
Method for planning track.
Background technology
Unmanned boat is a kind of under-actuated systems of strong nonlinearity, the restricted water ring faced due to its unmanned boat in berthing
Border is complex, therefore the autonomous berthing of unmanned boat is a great problem；Other unmanned boat is also suffered from berthing because speed is low
Caused steerage is poor, the influence such as big is disturbed caused by bank effect, and these, which all make to automatically control, becomes more difficult.
Autonomous docking system can make drive lacking unmanned boat realize autonomous safe berthing, it can according to unmanned boat,
The position contexture by self of target berth and barrier goes out feasible berthing track, then transfers to control system to automatically control unmanned boat
Rudder, Jiang Deng executing agencies, unmanned boat is followed institute's planned trajectory and complete berthing.
A kind of entitled " vehicle autonomous parking paths planning method for a variety of scenes of parking " (publication number
CN1O5857306A, publication date August in 2016 17 days) patent application be applied to a variety of scenes of parking, reasonable in design, Neng Gouti
Vehicle autonomous parking, safety coefficient height are controlled for abundant information.But the phenomenon of drift angle and lateral drift, this method is not present in car
The path planning of unmanned boat is not particularly suited for, and this method needs the operation of the more difficult completions of drive lacking unmanned boat such as reversing, nothing
Method is suitable for the trajectory planning of the autonomous berthing of drive lacking unmanned boat.
A kind of entitled " unmanned surface vehicle paths planning method based on neighborhood intelligent water drop algorithm " (publication number
CN103744428A, publication date on April 23rd, 2014) patent application be easily absorbed in existing for basic IWD methods it is local most
Excellent solution causes the problem of method stagnation and slower convergence rate to be improved, and this method can be avoided, which to be absorbed in local optimum, to be caused
Precocity, improve the convergence rate of method optimizing.But this method does not account for the harbour pair on bank during unmanned boat berthing
The influence of unmanned boat coursespeed, the autonomous berthing of safety of unmanned boat can not be realized.
In document " the unmanned boat path planning algorithm based on modified embedded-atom method ", Liu Kun et al. proposes a kind of improvement
Artificial Potential Field Method, replace quadratic function to construct potential field function with exponential function, reduce the amplitude of variation of potential field intensity, and
Increase a factor of the relative position of unmanned boat and target point in repulsion potential field function, solve the problems, such as goal nonreachable；Simultaneously
The potential field coefficient adjustment factor is set, 2 Rule of judgment is introduced and determines whether unmanned boat is absorbed in local minimum, select on this basis
Corresponding potential field coefficient is selected, so as to jump out local minizing point.
Although this method have passed through simulating, verifying, but it does not consider the drive lacking characteristic and planned trajectory of unmanned boat
Smoothing Problem, and calculating cost is of a relatively high, lacks practicality.
In summary, existing method for planning track or the drive lacking characteristic of unmanned boat is not accounted for, the track cooked up
Corner is excessive；Or larger amount of calculation is needed to ensure that track is feasible；Or during not accounting for berthing bulkhead wall to unmanned boat
Influence, can not solve existing practical problem during unmanned boat berthing well.
The content of the invention
It is a kind of the invention aims to provide a kind of unmanned boat berthing action trail planing method for considering constraint
Consider the method for planning track of nearly Obstacles Constraints, harbour end conswtraint and the constraint of unmanned boat displacement.
The object of the present invention is achieved like this：Including distal end planning stage and offshore planning stage,
Distal end planning stage step is as follows：
Step 1：According to unmanned boat current location information calculate current expectation bow to；
Step 2：Expectation bow of the nearest barrier to unmanned boat is selected to be compensated to nearly obstacle look ahead compensation is carried out
Expectation bow afterwards to；
Step 3：According to the expectation bow after unmanned boat present speed and compensation to renewal unmanned boat position；
Step 4：Investigate whether the unmanned boat position after renewal reaches known distal end object of planning point, if reaching
Terminate distal end planning and enter the offshore planning stage, otherwise return to step one；
Offshore planning stage step is as follows：
(1) the expectation bow for pointing to i-th of virtual harbour is cooked up to i initial values are 1；
(2) distance of unmanned boat current location distance objective harbour is calculated, harbour constraint is added for current desired speed；
(3) according to desired speed and bow to renewal unmanned boat positional information；
(4) judge whether current unmanned boat arrives at i-th of virtual harbour, be to go to step (5), otherwise return to step (2)；
(5) judge whether i-th of virtual harbour is target harbour, if target harbour, which is then planned, finishes EP (end of program),
Otherwise i=i+1, return to step (1) are made.
Present invention additionally comprises some such architectural features：
1. nearly obstacle look ahead compensation is specially：
(1) relative distance d between unmanned boat and barrier is calculated；Go to step (2)；
(2) judge whether d is more than threshold value D, be to go to step (3), otherwise go to step (5), threshold value D by barrier influence
The size r of radius R and barrier in itself is together decided on, i.e. D=f (R, r)；
(3) according to the relative position between unmanned boat, target point and barrier three, it is determined that nearly obstacle look ahead compensation amount α
Sign, go to step (4)；
(4) compensation rate α is calculated, it is expected that bow to compensating, is gone to step (5) to current with reference to sign；
(5) return new expectation bow to.
Compared with prior art, the beneficial effects of the invention are as follows：1. the present invention overcomes for the berthing planning of unmanned boat
Local minimum point, track corner is excessive and bank keeps away effect problem, and because this method amount of calculation itself is relatively small, is calculated as
This is low, therefore the requirement to unmanned boat own hardware system is relatively low, has wider application.
2. the present invention takes the constraint of unmanned boat displacement, nearly Obstacles Constraints and harbour end conswtraint into account, can be real-time
Berthing track is accurately cooked up, while the track fairing that planning obtains is practical, helps preferably to carry out tracking control in next step
Work processed, emulating and obtaining effective checking under field trial.
The present invention considers the changing features of surrounding environment during unmanned boat berthing, the berthing row of the invention by unmanned boat
Two stages are planned to divide into distal end planning and offshore；In order to avoid track is absorbed in local minimum point and turning is larger, this hair
It is bright that nearly obstacle look ahead compensation is added in the distal end planning stage；In order to reduce unmanned boat in docking process because speed is slow, steerage
Poor and increased control difficulty, the present invention add virtual harbour constraint in the offshore planning stage.
Brief description of the drawings
Fig. 1 is main program distal end planning stage FB(flow block)；
Fig. 2 is main program offshore planning stage FB(flow block)；
Fig. 3 is nearly obstacle look ahead compensation function FB(flow block)；
Fig. 4 is the force analysis schematic diagram of unmanned boat；
Fig. 5 is the labor figure of nearly obstacle look ahead compensation method；
Fig. 6 is the schematic diagram of pseudo code head's punctuate guidance method.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to 3, unmanned boat berthing behavior is divided into by the planing method according to the changing features of unmanned boat surrounding environment
Distal end planning and offshore plan two stages, and distal end planning stage unmanned boat is mainly constrained by multi-obstacle avoidance；Offshore is advised
The stage of drawing mainly is constrained by harbour.
Described distal end planning stage, its feature are to use the modified embedded-atom method pair based on nearly obstacle look ahead compensation
Unmanned boat under multi obstacles environment carries out trajectory planning, to solve the problems, such as local minimum point existing for Artificial Potential Field Method and planning
The corner problems of too of track, and the distal end planning stage comprise the following steps：
(1) start position (x of unmanned boat is obtained by sensor0,y0), distal end planning stage aiming spot (xF,yF),
The number n and position [x of barrierO1,yO1；...；xOn,yOn], barrier radius of influence R, go to step (2)；
(2) gravitation of current unmanned boat is calculated using modified embedded-atom method, repulsion, makes a concerted effort and it is expected that bow to θ, turns step
Suddenly (3)；
A. gravitational field
Unmanned boat is in the position of working region with X=(x, y)TRepresent, then gravitational potential function can be defined as：
In formula：UattFor gravitational field caused by target point, k is gain constant, and X is the real-time position of unmanned boat, XgFor mesh
The position of punctuate, then gravitation can be expressed as：
Fatt=-grad (Uatt)=k (Xg-X) (1-2)
B. repulsion field
It is as follows for repulsion potential function expression formula.
In formula：UrepFor repulsion field caused by barrier, η is gain constant, ρ between unmanned boat and barrier away from
From ρ0For the radius of influence of barrier, when unmanned boat is in barrier radius of influence ρ0Outside when, the barrier will not be to unmanned boat
Produce the effect of repulsion.The computational methods of repulsion are expressed as：
What unmanned boat was subject to makes a concerted effort to be F=Fatt+Frep, the power determines the direction of motion of unmanned boat, as shown in Figure 4.
(3) the nearest barrier of chosen distance unmanned boat is as the object barrier for preferentially carrying out nearly obstacle look ahead compensation
OT, go to step (4)；
(4) calculated using Pythagorean theorem and judge unmanned boat current location (xk,yk) distance between object barrier OT positions
dOTWith OT look ahead compensation radius R, and d is judgedOTWhether it is less than R, is to go to step (5), otherwise goes to step (8)；Wherein R with
d、r0、rzSize it is relevant, be expressed as R=g (d, rz,r0), r in formula0For the radius of barrier；rzFor the influence half of barrier
Footpath；D is distance of the barrier to line between unmanned boat and target point.
(5) it is expected that bow compensates to θ using nearly obstacle look ahead compensation method is current to unmanned boat, go to step (6)；
(6) formula is utilizedWith reference to unmanned boat current location (xk,yk) and step-length l calculate unmanned boat under
Position (the x of one stepk+1,yk+1), go to step (7)；
(7) unmanned boat is moved to (xk+1,yk+1), unmanned boat runs step number k=k+1 after a step, the position of unmanned boat by
(xk,yk) become (xk+1,yk+1), go to step (8)；
(8) unmanned boat current location (x is judgedk,yk) apart from distal end object of planning point (xF,yF) distance whether be less than threshold
Value G (the general values 3 to 6 of G), it is to be considered as to arrive at target point and be transferred to the offshore planning stage, otherwise goes to step (2)；
Nearly obstacle look ahead compensation method in distal end planning stage step (5) is the core of the present invention, and it is mainly walked
Suddenly it is：
(1) unmanned boat current location (x is calculated according to Pythagorean theoremk,yk) and target compensation barrier (xOT,yOT) between
Relative distance d；Go to step (2)；
(2) judge whether d is more than threshold value D, threshold value D is typically by radius of influence R and barrier the chi in itself of barrier
Very little r is together decided on, i.e. D=f (R, r), is to go to step (3), otherwise goes to step (7)；
(3) target point (x is calculated using Pythagorean theoremF,yF) and unmanned boat current location (xk,yk) between relative angle A
(A in program>0) the relative angle B and between barrier and unmanned boat, goes to step (4)；
(4) if A>0 and B<0, then it is assumed that target point is in unmanned boat right flank and barrier measures in unmanned boat left wing, compensation
Negative sign is simultaneously gone to step (6), is otherwise gone to step (5)；
(5) if B>0 and A>B, then it is assumed that target point and barrier are all more kept right in unmanned boat right flank and target point, compensation
Measure positive sign and go to step (6), otherwise compensation measures negative sign and gone to step (6)；
(6) compensation rate α=t*r is calculated, wherein r is look ahead compensation angular speed, and t represents the time per step-length, with reference to positive and negative
Number it is expected that bow compensates to θ to current, go to step (7)；Wherein r size is by d, r0, R influence, i.e. r=f (R, d,
r0), r in formula0For the radius of barrier；R is nearly obstacle look ahead compensation radius；D is barrier to unmanned boat and target point line
Distance.
(7) new expectation bow is returned to θ ', makes θ=θ '；
Labor on nearly obstacle look ahead compensation method is as shown in Figure 5：
As shown in figure 5, first determine whether that barrier is located at the which side of starting point and target point line, it is determined that compensation angular speed
Sign (only consider that a target point exists due to target point has been arranged on into unmanned boat right flank in simulated program, therefore in specification
The situation of right flank is A>0, left wing is similarly)；According to factor d, r for influenceing barrier look ahead compensation degree0、rz, nearly barrier is determined respectively
Hinder the radius R (R of look ahead compensation1≤R≤R2) and look ahead compensation angular speed r.
If unmanned boat and barrier real-time range are l：
When unmanned boat is close to barrier：
As l ＞ R2When, unmanned boat bow by target point to only being influenceed, and direction is gravity direction, look ahead compensation angular speed r
=0, bow is to angle solution formula：
ψ=θ1
In formula, ψ represents unmanned boat bow to angle, θ1Represent gravity direction.
Work as rz＜ l≤R2When, unmanned boat bow to by target point, compensate angular speed joint effect, look ahead compensation angular speed
For r, bow is to angle solution formula：
ψ=θ1+rt
In formula, t represents the time needed for per step-length.
Work as R1＜ l≤rzWhen, unmanned boat bow is mended to by target point, barrier, the joint effect for compensating angular speed, prediction
It is r to repay angular speed, and bow is to angle solution formula：
ψ=θ0+rt
In formula, θ0Represent the resultant direction of gravitation and repulsion.
As l≤R1When, unmanned boat bow is to angle solution formula to by target point, barrier joint effect, bow：
ψ=θ0
1. when unmanned boat is away from barrier：
Here regulation only considers that unmanned boat reaches nearly obstacle look ahead compensation region minimum border (i.e. l=R for the first time1) feelings
Condition, even if unmanned boat is again introduced into the region afterwards, also look ahead compensation is not done to the obstacle.
As l≤rzWhen, unmanned boat bow is to angle solution formula to by target point, barrier joint effect, bow：
ψ=θ0
As l ＞ rzWhen, unmanned boat bow is influenceed to by target point gravitation, and bow is to angle solution formula：
ψ=θ1
Described offshore planning stage, its feature are to introduce virtual terminal concepts, so as to reduce unmanned boat low
Control difficulty during fast berthing, and offshore planning stage step includes：
(1) unmanned boat current location (x is obtained by sensork,yk), target terminal locations (xL,yL), and pseudo code is set
The number m (m=4) and position [x of headD1,yD1；...；xDm,yDm], go to step (2)；
(2) current location unmanned boat is calculated by i-th (i initial values are 1) individual virtual harbour according to modified embedded-atom method
Gravitation and it is expected bow to θ, go to step (3)；
(3) unmanned boat current location (x is calculated according to Pythagorean theoremk,yk) apart from final goal harbour (xL,yL) distance
L, formula is utilized according to LOS subtense techniquesCurrent unmanned boat desired speed is calculated, is gone to step (4)；V in formulatTable
Show the velocity magnitude of unmanned boat t, r represents unmanned boat to the line-of-sight distance of target point, and Δ r is for adjusting the unmanned boat speed of a ship or plane
Factor, such as Δ r takes 5, i.e. speed VtThe distance of unmanned boat distance objective point is 5 meters when dropping to 0.5 metre per second (m/s).
(4) formula is utilizedAnd according to it is expected bow to θ, unmanned boat current location (xk,yk) and constraint after
Step-length l ' (l '=t*Vt) calculate the next step desired locations (x of unmanned boat after current iterationk+1,yk+1), k=k+1 is made, is turned
Step (5)；
(5) unmanned boat current location (x is calculated using Pythagorean theoremk,yk) and i-th of virtual harbour (xDi,yDi) between
Distance li, judge liWhether it is less than G (G values are generally 3 to 6), is to go to step (6), otherwise return to step (2)；
(6) judging whether i-th of virtual harbour is target harbour, is, planning finishes EP (end of program), otherwise makes i=i+1,
Return to step (1)；
The virtual harbour wherein introduced be the present invention another core, the conceptual analysis on virtual harbour：
Require that the final carriage of unmanned boat is parallel with bank in harbour end conswtraint, because unmanned boat enters dock area
Velocity magnitude is subject to certain restrictions afterwards, and unmanned boat steerage can be deteriorated when speed reduces, and bow, therefore should to will be not easy to adjust
Bow is adjusted as early as possible to the present invention proposes pseudo code head's punctuate guidance method, adds several (typically taking 3 to 5) stealth targets
Point, as shown in Figure 6 when i=5 (i=1 to 4 be virtual harbour in figure, be final goal harbour), and with reference to the realization of LOS subtense techniques
The unmanned boat berthing later stage to bow to and speed high accuracy adjust.
One ripe unmanned boat system includes detection system, planning system and control system, and unmanned boat is by detecting
System enters row information with external environment and exchanged；Rational speed, correct course and feasible route are calculated by planning system；
Unmanned boat executive plan is driven eventually through control system.Good planning system can reduce the requirement to detection system, and can
Control difficulty is reduced, therefore a good planning system is a ring essential in ripe unmanned boat system.
To sum up, the present invention proposes a kind of unmanned boat berthing planing method for considering constraint.The planing method is according to nobody
The berthing behavior of unmanned boat divide into the changing features of ship local environment into distal end planning and offshore plans two stages.Advise distal end
Drawing includes：(1) calculate current expectation bow to；(2) to it is expected bow to the nearly obstacle look ahead compensation of progress；(3) unmanned boat position is updated
Put；(4) judge whether unmanned boat reaches distal end object of planning point, be to terminate distal end planning to be transferred to the offshore planning stage, otherwise
Return to step (1).Offshore planning includes：(1) expected path of sensing i-th (i initial value is 1) individual virtual harbour is calculated；
(2) distance of unmanned boat distance objective harbour is calculated, harbour constraint is added for current desired speed；(3) unmanned boat position is updated；
(4) judge whether unmanned boat arrives at i-th of virtual harbour, be to go to step (5), otherwise return to step (2)；(5) judge i-th
Whether virtual harbour is target harbour, is, planning finishes EP (end of program), otherwise makes i=i+1, return to step (1).The present invention adopts
With modified embedded-atom method, it is contemplated that influence of the bank effect to unmanned boat and efficiently solve planning road during berthing
The corner problems of too in footpath, facility is provided for the autonomous berthing control problem of unmanned boat.
Claims (2)
- A kind of 1. unmanned boat berthing action trail planing method for considering constraint, it is characterised in that：Including the distal end planning stage and The offshore planning stage,Distal end planning stage step is as follows：Step 1：According to unmanned boat current location information calculate current expectation bow to；Step 2：Expectation bow of the nearest barrier to unmanned boat is selected to carrying out nearly obstacle look ahead compensation, after being compensated It is expected bow to；Step 3：According to the expectation bow after unmanned boat present speed and compensation to renewal unmanned boat position；Step 4：Investigate whether the unmanned boat position after renewal reaches known distal end object of planning point, terminate if reaching Distal end planning enters the offshore planning stage, otherwise return to step one；Offshore planning stage step is as follows：(1) the expectation bow for pointing to i-th of virtual harbour is cooked up to i initial values are 1；(2) distance of unmanned boat current location distance objective harbour is calculated, harbour constraint is added for current desired speed；(3) according to desired speed and bow to renewal unmanned boat positional information；(4) judge whether current unmanned boat arrives at i-th of virtual harbour, be to go to step (5), otherwise return to step (2)；(5) judge whether i-th of virtual harbour is target harbour, if target harbour, which is then planned, finishes EP (end of program), otherwise Make i=i+1, return to step (1).
- A kind of 2. unmanned boat berthing action trail planing method for considering constraint according to claim 1, it is characterised in that： Nearly obstacle look ahead compensation is specially：(1) relative distance d between unmanned boat and barrier is calculated；Go to step (2)；(2) judge whether d is more than threshold value D, be to go to step (3), otherwise go to step (5), threshold value D by barrier the radius of influence The size r of R and barrier in itself is together decided on, i.e. D=f (R, r)；(3) according to the relative position between unmanned boat, target point and barrier three, it is determined that nearly obstacle look ahead compensation amount α is just Negative sign, go to step (4)；(4) compensation rate α is calculated, it is expected that bow to compensating, is gone to step (5) to current with reference to sign；(5) return new expectation bow to.
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