CN107544500B - Unmanned ship berthing behavior trajectory planning method considering constraint - Google Patents
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Abstract
The invention provides a constraint-considered unmanned ship berthing behavior trajectory planning method, which comprises the following steps of: 1, calculating the current expected heading; 2, performing near obstacle look-ahead compensation on the expected heading; 3, updating the position of the unmanned ship; and 4, judging whether the unmanned ship reaches a remote planning target point, if so, ending the remote planning and switching to an offshore planning stage, and if not, returning to the step 1. And (3) near-shore planning: 1, calculating an expected path pointing to the ii, wherein the initial value of the expected path is 1 virtual wharf; 2, calculating the distance between the unmanned ship and a target wharf, and adding wharf constraint for the current expected speed; 3, updating the position of the unmanned ship; 4, judging whether the unmanned ship reaches the ith virtual dock, if so, turning to the step 5, otherwise, returning to the step 2; and 5, judging whether the ith virtual dock is the target dock, if so, finishing the planning procedure, otherwise, enabling i to be i +1, and returning to the step 1. The invention adopts an improved artificial potential field method, and provides convenience for the autonomous berthing control problem of the unmanned ship.
Description
Technical Field
The invention relates to the field of autonomous berthing of unmanned surface vehicles, in particular to a constraint-considered unmanned vehicle berthing behavior trajectory planning method.
Background
The unmanned ship is a strong nonlinear underactuated system, and the autonomous berthing of the unmanned ship is a great problem because the limited water area environment of the unmanned ship during berthing is complex; in addition, when the unmanned ship is berthed, the unmanned ship is influenced by poor steering efficiency caused by low speed, large disturbance caused by a shore wall effect and the like, and the automatic control is more difficult.
The autonomous berthing system can enable the under-actuated unmanned ship to realize autonomous safe berthing, a feasible berthing track can be automatically planned according to the positions of the unmanned ship, a target berth and an obstacle, and then the feasible berthing track is handed to a control system to automatically control actuating mechanisms such as a rudder, a paddle and the like of the unmanned ship, so that the unmanned ship can finish berthing along the planned track.
The patent application with the name of 'a vehicle autonomous parking path planning method for multiple parking scenes' (publication number CN1O5857306A, 2016, 8, 17), is suitable for multiple parking scenes, reasonable in design, capable of providing rich information to control vehicle autonomous parking, and high in safety factor. However, the vehicle does not have the phenomena of drift angle and transverse drift, the method is not suitable for path planning of the unmanned ship, and the method needs to be operated by an under-actuated unmanned ship which is difficult to complete, such as backing and the like, and cannot be suitable for trajectory planning of autonomous berthing of the under-actuated unmanned ship.
The invention discloses a water surface unmanned ship path planning method based on a neighborhood intelligent water drop algorithm (publication number CN103744428A, 4/23/2014), and aims to solve the problems that a basic IWD method easily falls into a local optimal solution to cause method stagnation and the convergence speed is slow, so that premature aging caused by the method falling into the local optimal solution can be avoided, and the convergence speed of optimization of the method is improved. However, the method does not consider the influence of the shore wharf on the course speed of the unmanned ship in the berthing process of the unmanned ship, and cannot realize safe and autonomous berthing of the unmanned ship.
In the document 'unmanned ship path planning algorithm based on improved artificial potential field method', Liu and other people provide an improved artificial potential field method, an exponential function is used for replacing a quadratic function to construct a potential field function, the variation amplitude of the potential field strength is reduced, a factor of the relative position of an unmanned ship and a target point is added in a repulsive potential field function, and the problem that the target cannot be reached is solved; and simultaneously setting potential field coefficient adjustment factors, introducing 2 judgment conditions to determine whether the unmanned ship falls into a local minimum value, and selecting corresponding potential field coefficients on the basis, thereby jumping out local minimum value points.
Although the method is subjected to simulation verification, the problems of the under-actuated characteristic of the unmanned ship and the fairing of the planned track are not considered, the calculation cost is relatively high, and the practicability is lacked.
In summary, the conventional trajectory planning method does not consider the under-actuated characteristic of the unmanned ship, and the planned trajectory corner is too large; or a large amount of calculation is required to ensure that the track is feasible; or the influence of the shore wall on the unmanned ship in the berthing process is not considered, so that the practical problem existing in the berthing process of the unmanned ship cannot be well solved.
Disclosure of Invention
The invention aims to provide a constraint-considered unmanned ship berthing behavior trajectory planning method, which is a trajectory planning method considering near obstacle constraint, wharf terminal constraint and unmanned ship self motion constraint.
The purpose of the invention is realized as follows: comprises a far-end planning phase and a near-shore planning phase,
the remote planning phase comprises the following steps:
the method comprises the following steps: calculating the current expected heading according to the current position information of the unmanned ship;
step two: selecting a nearest barrier to perform near-barrier forward-looking compensation on the expected heading of the unmanned ship to obtain the compensated expected heading;
step three: updating the position of the unmanned ship according to the current speed of the unmanned ship and the compensated expected heading;
step four: whether the updated position of the unmanned ship reaches a known remote planning target point is inspected, if so, the remote planning is ended and the near-shore planning stage is entered, otherwise, the step one is returned;
the near-shore planning stage comprises the following steps:
(1) planning an expected heading pointing to the ith virtual dock, wherein the initial value of i is 1;
(2) calculating the distance between the current position of the unmanned ship and a target wharf, and adding wharf constraint for the current expected speed;
(3) updating the position information of the unmanned ship according to the expected speed and the heading;
(4) judging whether the current unmanned ship reaches the ith virtual dock, if so, turning to the step (5), otherwise, returning to the step (2);
(5) and (4) judging whether the ith virtual dock is a target dock, finishing the planning procedure if the ith virtual dock is the target dock, otherwise, enabling i to be i +1, and returning to the step (1).
The invention also includes such structural features:
1. the near obstacle look-ahead compensation specifically comprises:
(1) calculating a relative distance d between the unmanned ship and the barrier; turning to the step (2);
(2) judging whether D is larger than a threshold value D, if so, turning to the step (3), otherwise, turning to the step (5), wherein the threshold value D is determined by the influence radius R of the obstacle and the size R of the obstacle, namely D is f (R, R);
(3) determining the sign of the near-obstacle forward-looking compensation quantity alpha according to the relative positions of the unmanned boat, the target point and the obstacle, and turning to the step (4);
(4) calculating a compensation quantity alpha, compensating the current expected heading by combining the positive sign and the negative sign, and turning to the step (5);
(5) and returning to the new expected heading.
Compared with the prior art, the invention has the beneficial effects that: 1. the method overcomes the problems of local minimum points, overlarge track corners and bank avoidance effect aiming at the berthing planning of the unmanned ship, and has lower requirements on the hardware system of the unmanned ship and wider application range because the calculation amount of the method is relatively small and the calculation cost is low.
2. The invention takes the self motion constraint, near obstacle constraint and wharf terminal constraint of the unmanned ship into consideration, can accurately plan the berthing track in real time, and simultaneously the planned track is smooth and practical, thus being beneficial to better carrying out the next tracking control work and obtaining effective verification under simulation and outfield tests.
The invention takes the characteristic change of the surrounding environment in the unmanned ship berthing process into consideration, and the berthing behavior of the unmanned ship is divided into a far-end planning stage and a near-shore planning stage; in order to avoid the track from falling into local minimum points and larger corners, near-obstacle look-ahead compensation is added in the far-end planning stage; in order to reduce the control difficulty increased by low speed and poor rudder effect in the parking process of the unmanned ship, the invention adds virtual wharf constraint in the near-shore planning stage.
Drawings
FIG. 1 is a block diagram of a main program remote planning phase flow;
FIG. 2 is a block diagram of the main program near-shore planning phase flow;
FIG. 3 is a block diagram of a near barrier look-ahead compensation function flow;
FIG. 4 is a schematic view of a force analysis of the unmanned surface vehicle;
FIG. 5 is a detailed analysis diagram of a near-obstacle look-ahead compensation method;
fig. 6 is a schematic diagram of a virtual dock target point guiding method.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 to 3, the planning method divides the unmanned ship berthing behavior into a far-end planning stage and a near-shore planning stage according to the characteristic change of the surrounding environment of the unmanned ship, wherein the unmanned ship is mainly restricted by multiple obstacles in the far-end planning stage; the near shore planning phase is mainly constrained by the quay.
The far-end planning stage is characterized in that the track planning is carried out on the unmanned ship under the environment with multiple obstacles by adopting an improved artificial potential field method based on near-obstacle forward-looking compensation so as to solve the problems of local minimum points and overlarge rotation angle of a planning track in the artificial potential field method, and the far-end planning stage comprises the following steps:
(1) acquiring the starting position (x) of the unmanned ship by a sensor0,y0) Remote planning phase target Point location (x)F,yF) Number n and position [ x ] of obstaclesO1,yO1；...；xOn,yOn]Turning to step (2) when the radius R is influenced by the obstacle;
(2) calculating the gravitational force, the repulsive force, the resultant force and the expected heading theta of the current unmanned ship by using an improved artificial potential field method, and turning to the step (3);
a. gravitational field
The position of the unmanned boat in the working area is determined by X ═ (X, y)TExpressed, the gravitational potential function can be defined as:
in the formula: u shapeattThe gravitational field generated for the target point, k is the gain constant, X is the real-time position of the unmanned boat, XgBeing the position of the target point, the attraction force can be expressed as:
Fatt＝-grad(Uatt)＝k(Xg-X) (1-2)
b. repulsive force field
The function expression for repulsive force potential is as follows.
In the formula: u shaperepA repulsive field generated by the obstacle, eta is a gain constant, rho is the distance between the unmanned boat and the obstacle, rho0Is the influence radius of the obstacle, when the unmanned ship influences the radius rho at the obstacle0Otherwise, the barrier will not exert a repulsive force on the unmanned boat. The calculation method of the repulsive force is expressed as:
the resultant force of the unmanned ship is F ═ Fatt+FrepThis force determines the direction of motion of the drone, as shown in figure 4.
(3) Selecting an obstacle closest to the unmanned ship as a target obstacle OT for preferentially performing near obstacle forward-looking compensation, and turning to the step (4);
(4) calculating and judging the current position (x) of the unmanned ship by using Pythagorean theoremk,yk) Distance d from the target obstacle OT positionOTAnd a look-ahead radius R of OT, and d is determinedOTIf the value is smaller than R, turning to the step (5) if the value is smaller than R, and otherwise, turning to the step (8); wherein R and d, R0、rzIs expressed as R ═ g (d, R)z,r0) In the formula r0Is the radius of the obstacle; r iszIs the radius of influence of the obstacle; d is the distance from the barrier to the connecting line between the unmanned boat and the target point.
(5) Compensating the current expected heading theta of the unmanned ship by using a near-obstacle forward-looking compensation method, and turning to the step (6);
(6) using formulas
Combined with current position (x) of unmanned vehiclek,yk) And the step length l is calculated to obtain the position (x) of the next step of the unmanned shipk+1,yk+1) Turning to the step (7);
(7) unmanned boat moves to (x)k+1,yk+1) The number k of the steps after the unmanned ship runs for one step is k +1, and the position of the unmanned ship is defined by (x)k,yk) Become (x)k+1,yk+1) Turning to the step (8);
(8) judging the current position (x) of the unmanned shipk,yk) Distance to the remote planning target point (x)F,yF) Whether the distance is smaller than a threshold value G (G generally takes a value of 3 to 6) is judged to arrive at the target point and is transferred to the near-shore planning stage, and if not, the step (2) is transferred;
the near obstacle look-ahead compensation method in the step (5) of the far-end planning stage is the core of the invention, and the main steps are as follows:
(1) calculating the current position (x) of the unmanned ship according to the Pythagorean theoremk,yk) And compensating for the object obstacle (x)OT,yOT) The relative distance d therebetween; turning to the step (2);
(2) judging whether D is larger than a threshold value D, wherein the threshold value D is generally determined by the influence radius R of the obstacle and the size R of the obstacle, namely D is f (R, R), if so, turning to the step (3), otherwise, turning to the step (7);
(3) calculating the target point (x) by using Pythagorean theoremF,yF) With the current position (x) of the unmanned surface vehiclek,yk) Relative angle A (in the program A)>0) And the relative angle B between the barrier and the unmanned boat, and turning to the step (4);
(4) if A is greater than 0 and B is less than 0, the target point is considered to be on the right wing of the unmanned ship and the obstacle is on the left wing of the unmanned ship, the negative sign is taken out by compensation and the step (6) is carried out, otherwise the step (5) is carried out;
(5) if B is greater than 0 and A is greater than B, the target point and the obstacle are considered to be on the right wing of the unmanned ship and the target point is closer to the right, the positive sign of the compensation quantity is taken and converted to the step (6), otherwise, the negative sign of the compensation quantity is taken and converted to the step (6);
(6) calculating a compensation quantity alpha, t, r, wherein r is a prospective compensation angular velocity, t represents time of each step, and the current expected heading theta is compensated by combining the positive sign and the negative sign, and turning to the step (7); wherein r is of a size given by d, r0The influence of R, i.e. R ═ f (R, d, R)0) In the formula r0Is the radius of the obstacle; r is a near obstacle look-ahead compensation radius; d is the distance from the barrier to the connecting line between the unmanned boat and the target point.
(7) Returning to a new expected heading theta ', and changing theta to theta';
a detailed analysis of the near-obstacle look-ahead compensation method is shown in fig. 5:
as shown in fig. 5, it is first determined which side of the line connecting the starting point and the target point is located by the obstacle, and the sign of the compensated angular velocity is determined (since the target point is set on the right wing of the unmanned boat in the simulation program, only the case where the target point is on the right wing, i.e., a, is considered in the description>0, left wing for the same reason); according to factors d and r influencing the prospective compensation degree of the obstacle0、rzDetermining the radius R (R) of the near-obstacle look-ahead compensation1≤R≤R2) And look-ahead compensated angular velocity r.
Setting the real-time distance between the unmanned boat and the barrier as l:
when the unmanned boat approaches an obstacle:
when l > R2When the unmanned ship is in the normal position, the heading of the unmanned ship is only influenced by the target point and is in the directionFor the gravity direction, the forward-looking compensation angular velocity r is equal to 0, and the heading angle solving formula is as follows:
ψ＝θ1
where psi denotes the unmanned boat heading angle, theta1Indicating the direction of the attractive force.
When r isz＜l≤R2In the time, the heading of the unmanned ship is influenced by a target point and a compensation angular velocity together, the forward-looking compensation angular velocity is r, and the heading angle solving formula is as follows:
ψ＝θ1+rt
in the formula, t represents the time required per step.
When R is1＜l≤rzIn the time, the heading of the unmanned ship is influenced by a target point, an obstacle and a compensation angular velocity together, the foresight compensation angular velocity is r, and the heading angle solving formula is as follows:
ψ＝θ0+rt
in the formula, theta0Indicating the direction of the resultant force of the attractive and repulsive forces.
When l is less than or equal to R1In the time, the heading of the unmanned ship is influenced by a target point and an obstacle together, and the heading angle solving formula is as follows:
ψ＝θ0
when the unmanned boat is far away from the obstacle:
provision is made here to consider only the first arrival of the unmanned boat at the minimum boundary of the near obstacle look-ahead compensation zone (i.e. l ═ R)1) Then even if the unmanned boat enters the area again, the obstacle is not compensated for in a prospective manner.
When l is less than or equal to rzIn the time, the heading of the unmanned ship is influenced by a target point and an obstacle together, and the heading angle solving formula is as follows:
ψ＝θ0
when l > rzIn time, the heading of the unmanned ship is influenced by the gravity of a target point, and the heading angle solving formula is as follows:
ψ＝θ1
the near-shore planning stage is characterized in that a virtual wharf concept is introduced, so that the control difficulty of the unmanned ship during low-speed berthing is reduced, and the near-shore planning stage comprises the following steps:
(1) acquiring the current position (x) of the unmanned ship by a sensork,yk) Target dock position (x)L,yL) And setting the number m (m is 4) and the position [ x ] of the virtual wharfD1,yD1；...；xDm,yDm]Turning to the step (2);
(2) calculating the gravity and the expected heading theta of the unmanned ship at the current position, which is subjected to the ith virtual dock (the initial value of i is 1), according to an improved artificial potential field method, and turning to the step (3);
(3) calculating the current position (x) of the unmanned ship according to the Pythagorean theoremk,yk) Distance to final destination dock (x)L,yL) Distance L, according to LOS line-of-sight method using formula
Calculating the expected speed of the current unmanned ship, and turning to the step (4); in the formula VtRepresenting the speed of the unmanned vehicle at time t, r the line-of-sight distance of the unmanned vehicle to the target point, Δ r being a factor for adjusting the speed of the unmanned vehicle, e.g. Δ r being 5, i.e. the speed VtThe distance of the unmanned boat from the target point when the unmanned boat descends to 0.5 meter per second is 5 meters.
(4) Using formulas
And the current position (x) of the unmanned ship according to the expected heading thetak,yk) And a step length l '(l' ═ t × V) after the restraintt) Calculating the next expected position (x) of the unmanned ship after the iterationk+1,yk+1) Turning to the step (5) when k is equal to k + 1;
(5) calculating the current position (x) of the unmanned ship by using Pythagorean theoremk,yk) With the ith virtual dock (x)Di,yDi) A distance l betweeniJudgment of liIf the value of G is smaller than G (the value of G is generally 3 to 6), if so, turning to the step (6), otherwise, returning to the step (2);
(6) judging whether the ith virtual dock is a target dock, if so, finishing the programming, otherwise, enabling i to be i +1, and returning to the step (1);
the introduced virtual wharf is another core of the invention, and the concept analysis about the virtual wharf is as follows:
the final posture of the unmanned ship is required to be parallel to the bank in the terminal constraint of the wharf, the speed of the unmanned ship is limited to a certain extent after the unmanned ship enters a wharf area, the steering efficiency of the unmanned ship is reduced when the speed is reduced, and the heading is not easy to adjust, so the heading is adjusted as early as possible.
The mature unmanned ship system comprises a detection system, a planning system and a control system, and the unmanned ship exchanges information with the external environment through the detection system; calculating reasonable speed, correct course and feasible route by a planning system; and finally, driving the unmanned boat to execute the plan through the control system. The good planning system can reduce the requirement on the detection system and can also reduce the control difficulty, so that a good planning system is an essential link in a mature unmanned ship system.
In summary, the invention provides a constraint-considered unmanned ship berthing planning method. The planning method divides the berthing behavior of the unmanned ship into a far-end planning stage and a near-shore planning stage according to the characteristic change of the environment where the unmanned ship is located. The remote planning comprises the following steps: (1) calculating the current expected heading; (2) performing near obstacle look-ahead compensation on the expected heading; (3) updating the position of the unmanned ship; (4) and (3) judging whether the unmanned ship reaches a remote planning target point, if so, ending the remote planning and switching to an offshore planning stage, and if not, returning to the step (1). The near-shore planning comprises the following steps: (1) calculating an expected path pointing to the ith (the initial value of i is 1) virtual dock; (2) calculating the distance between the unmanned ship and a target wharf, and adding wharf constraint for the current expected speed; (3) updating the position of the unmanned ship; (4) judging whether the unmanned ship reaches the ith virtual dock, if so, turning to the step (5), otherwise, returning to the step (2); (5) and (4) judging whether the ith virtual dock is the target dock, if so, finishing the planning procedure, otherwise, enabling i to be i +1, and returning to the step (1). The invention adopts an improved artificial potential field method, considers the influence of the shore wall effect on the unmanned ship in the berthing process, effectively solves the problem of overlarge turning angle of a planned path, and provides convenience for the autonomous berthing control problem of the unmanned ship.
Claims (1)
1. A constraint-considered unmanned ship berthing behavior trajectory planning method is characterized by comprising the following steps: comprises a far-end planning phase and a near-shore planning phase,
the remote planning phase comprises the following steps:
the method comprises the following steps: calculating the current expected heading according to the current position information of the unmanned ship;
step two: selecting a nearest barrier to perform near-barrier forward-looking compensation on the expected heading of the unmanned ship to obtain the compensated expected heading;
the main steps of the near obstacle look-ahead compensation are as follows:
(1) calculating the current position (x) of the unmanned ship according to the Pythagorean theoremk,yk) And compensating for the object obstacle (x)OT,yOT) The relative distance d therebetween; turning to the step (2);
(2) judging whether D is larger than a threshold value D, wherein the threshold value D is determined by the influence radius R of the obstacle and the size R of the obstacle, namely D is f (R, R), if so, turning to the step (3), otherwise, turning to the step (7);
(3) calculating the target point (x) by using Pythagorean theoremF,yF) With the current position (x) of the unmanned surface vehiclek,yk) A relative angle A between them and a relative angle B between the obstacle and the unmanned surface vehicle, A is set in the program>0, turning to the step (4);
(4) if A is greater than 0 and B is less than 0, the target point is considered to be on the right wing of the unmanned ship and the obstacle is on the left wing of the unmanned ship, the negative sign is taken out by compensation and the step (6) is carried out, otherwise the step (5) is carried out;
(5) if B is greater than 0 and A is greater than B, the target point and the obstacle are considered to be on the right wing of the unmanned ship and the target point is closer to the right, the positive sign of the compensation quantity is taken and converted to the step (6), otherwise, the negative sign of the compensation quantity is taken and converted to the step (6);
(6) calculating a compensation quantity α ═ t × r ', where r' is the look-ahead compensation angular velocity and t denotes perStep length time, compensating the current expected heading theta by combining the positive sign and the negative sign, and turning to the step (7); wherein r' is of a size given by d, r0And the influence of R, i.e. R' ═ f (R, d, R)0) In the formula r0Is the radius of the obstacle;
(7) returning to a new expected heading theta ', and changing theta to theta';
step three: updating the position of the unmanned ship according to the current speed of the unmanned ship and the compensated expected heading;
step four: whether the updated position of the unmanned ship reaches a known remote planning target point is inspected, if so, the remote planning is ended and the near-shore planning stage is entered, otherwise, the step one is returned;
the near-shore planning stage comprises the following steps:
(1) planning an expected heading pointing to the ith virtual dock, wherein the initial value of i is 1;
(2) calculating the distance between the current position of the unmanned ship and a target wharf, and adding wharf constraint for the current expected speed;
(3) updating the position information of the unmanned ship according to the expected speed and the heading;
(4) judging whether the current unmanned ship reaches the ith virtual dock, if so, turning to the step (5), otherwise, returning to the step (2);
(5) and (4) judging whether the ith virtual dock is a target dock, finishing the planning procedure if the ith virtual dock is the target dock, otherwise, enabling i to be i +1, and returning to the step (1).
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