CN108829134A - A kind of real-time automatic obstacle avoiding method of deepwater robot - Google Patents
A kind of real-time automatic obstacle avoiding method of deepwater robot Download PDFInfo
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- CN108829134A CN108829134A CN201810716938.1A CN201810716938A CN108829134A CN 108829134 A CN108829134 A CN 108829134A CN 201810716938 A CN201810716938 A CN 201810716938A CN 108829134 A CN108829134 A CN 108829134A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The present invention provides a kind of real-time automatic obstacle avoiding methods of deepwater robot; for deep-sea intelligent robot in the obstacle environment of distributed in three dimensions safe navigation problem; a kind of real-time dangerous bypassing method of the Behavior-based control proposed; the present invention models irregular slalom object using geometry sphere; barrier is projected on horizontal and vertical face; the course infeasible region that barrier influences is analyzed using tangential method, the course for obtaining UAV navigation navigation can not row set；It is analyzed by the kinetic characteristic to UAV navigation, obtains the bow of UAV navigation to window and linear velocity window；Optimal navigation angle is searched out by constructing optimal navigation angle majorized function, and leading line rate pattern is constructed according to the size of the distribution of barrier and yaw angle；Navigation angle and navigation linear velocity are finally output to UAV navigation motion-control module, guidance UAV navigation realizes the Real Time Obstacle Avoiding in three-dimensional environment.
Description
Technical field
The invention belongs to underwater robot intelligent decision fields, and in particular to a kind of real-time automatic obstacle avoiding side of deepwater robot
Method.
Background technique
Robot autonomous barrier-avoiding method is broadly divided into paths planning method and in real time two class of dangerous bypassing method.Path planning
Method be it is a kind of needs according to priori distribution of obstacles data modeling, searched further according to the demand of robot task using optimization algorithm
Rope goes out to meet the path of condition, usually a kind of offline barrier-avoiding method.Paths planning method is to distribution of obstacles priori knowledge
Dependence it is stronger, and there are search time complexity is higher, be difficult meet the needs of robot Real Time Obstacle Avoiding.It is dangerous in real time
Bypassing method is a kind of based on real time sensor data, online building obstacle environment model, according to robot current kinetic shape
State and kinetic characteristic, the Obstacle Avoidance of the avoid-obstacle behavior strategy of output navigation in real time.Danger bypassing method is usually adopted in real time
With the mode based on robot behavior, directly according to the distribution of Environment Obstacles object and the motion state of robot, output is navigated
Angle and navigation linear velocity, the motion-control module of direct guided robot carry out the peace that barrier is realized in control to athletic posture
Evade entirely.Therefore, intelligent robot needs during obstacle environment real navigation using based on real time sensor data
Real-time Obstacle Avoidance Method guides it to carry out safe autonomous navigation.
Extensive research is carried out for the automatic obstacle avoiding problem of Intelligent Underwater Robot at present, related research result mainly collects
In in path planning research field.Related research result is asked in global trajectory planning of the two and three dimensions environment to underwater robot
Topic expands research, is all using the method for searching path based on known distribution of obstacles information, is a kind of offline track rule
The method of drawing, the track search for meeting mission requirements when being mainly used for the navigation of robot extensive area, is not able to satisfy robot
Actual time safety navigates by water demand.Currently there is a small amount of document to be directed to barrier avoidance problem of the underwater robot in three-dimensional environment,
According to real time sensor data, environmental model based on grid is constructed, is studied using the method for trajectory planning.This method
With larger Time & Space Complexity, it is difficult meet the needs of underwater robot Real Time Obstacle Avoiding, and in the mistake of track search
There is no the real time kinematics state and kinematic constraint characteristic that consider robot in journey, it cannot be tracked there are robot and evade path
The case where, can not underwater robot actual time safety navigation demand.
Deep-sea intelligent robot has submerged depth big, is used for deep seafloor operation, and navigation and working environment are one
Typical distributed in three dimensions obstacle environment, it is therefore desirable to which danger is evaded in three-dimensional obstacle environment for deep-sea intelligent robot
Problem expansion research.
Summary of the invention
In view of this, being able to solve deep-sea machine the present invention provides a kind of real-time automatic obstacle avoiding method of deepwater robot
The real-time evasion of barrier of the people in the obstacle environment of distributed in three dimensions allows the robot to be pacified in deep-marine-environment
Full navigation.
Realize that technical scheme is as follows：
A kind of real-time automatic obstacle avoiding method of deepwater robot, includes the following steps：
Step 1: constructing using UAV navigation center of gravity as the three-dimensional system of coordinate of origin, using geometric ball to underwater three
Dimension irregular slalom object is modeled, and barrier is projected in two perpendicular planes, using tangential method to barrier
Infeasible angle geometry analyzed, the course for obtaining the UAV navigation under earth coordinates can not angle set
Βobs；
Step 2：The kinetic characteristic of UAV navigation is analyzed, is sat according to UAV navigation in the earth
The angular acceleration of mark system horizontal plane and vertical planeAnd angular velocity omegac, UAV navigation is calculated in time window Δ t
Bow to window
Step 3：According to the linear velocity v of UAV navigationcIn linear acceleration a, calculates UAV navigation and exist
Time window Δ t interior lines velocity window VT；
Step 4：According to the bow of UAV navigation to windowWith the infeasible angle set in courseCalculate nothing
The course conceivable angle of people's submarine navigation device
Step 5：If feasible course heading setThen by solving optimal course heading majorized function, search
One group of optimal navigation angle outVector goes to step six；Otherwise, UAV navigation bow is adjusted to angleGo to step one；
Step 6：According to the navigation angle of outputWith the distribution situation of barrier before UAV navigation, root
According to leading line rate pattern, the navigation linear velocity v of UAV navigation is exportedguidance；
Step 7：By navigation angle vectorWith navigation linear velocity vguidanceUAV navigation is output to fortune
Dynamic control module, guidance UAV navigation carry out autonomous navigation；
Step 8：Judge whether UAV navigation reaches target point, be, then stops；Otherwise, one is gone to step.
Beneficial effect：
1, the method for the present invention only depends on real time sensor data, does not need environment priori knowledge as support, effectively drops
Low computation complexity, improves the real-time of algorithm.
2, the present invention is fitted the irregular slalom object in three-dimensional space using general geometry sphere, effectively reduces
To the responsible degree of barrier processing.
3, the present invention uses the Robot dodge strategy of Behavior-based control, can effectively break through search existing for the method using path planning
Speed is slow, adapts to the limitation of environment difference.
4, the method for the present invention considers the kinetic characteristic and motion state of UAV navigation, effectively avoids avoid-obstacle behavior
The inconsistent situation with motion state space, it is ensured that the reliability and safety of UAV navigation Real Time Obstacle Avoiding.
Detailed description of the invention
Fig. 1 is earth coordinates and UAV navigation relative coordinate system schematic diagram.
Fig. 2 is that barrier projects to Mxy floor map.
Fig. 3 is that barrier projects to Mxz floor map.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of real-time automatic obstacle avoiding methods of deepwater robot, for deep-sea intelligent robot in three-dimensional point
Safe navigation problem in the obstacle environment of cloth, a kind of real-time dangerous bypassing method of Behavior-based control of proposition.The present invention uses
Geometry sphere models irregular slalom object, barrier is projected on horizontal and vertical face, using tangential method to obstacle
The course infeasible region that object influences is analyzed, and the course for obtaining UAV navigation navigation can not row set；By right
The kinetic characteristic of UAV navigation is analyzed, and obtains the bow of UAV navigation to window and linear velocity window；It is logical
It crosses and constructs optimal navigation angle majorized function and search out optimal navigation angle, and according to the distribution of barrier and yaw angle
Size constructs leading line rate pattern；Navigation angle and navigation linear velocity are finally output to UAV navigation motion control
Module, guidance UAV navigation realize the Real Time Obstacle Avoiding in three-dimensional environment.
1, distributed in three dimensions obstacles restriction is analyzed
The relative coordinate system M-xyz of the former heart is thought in building, wherein：M is the center of gravity of UUV, and axis Mx is UUV in earth coordinates
Projection angle under E- ξ η ζ in ξ E η plane, axis My, Mz are perpendicular to axis Mx, and consistent with earth coordinates E- ξ η ζ is right-handed system, such as
Shown in Fig. 1；Irregular slalom object is fitted with one or more geometry sphere in coordinate system M-xyz, geometry sphere exists
As close possible to barrier shape while reduce the use number of geometry sphere to the greatest extent.Corresponding i-th of the obstacle of barrier
Ball is denoted as Oi(in referred to as i-th of the obstacle of part below), sphere centre coordinate is (ρi,θi,αi), radius ri, (ρi,θi,αi) it is phase
For UUV bow to polar coordinates, wherein ρiFor the distance of barrier to UUV, θiFor barrier OiThe phase on projecting to Mxy plane
For the misalignment angle of x-axis, as shown in Figure 2；αiFor barrier OiRelative to the misalignment angle of x-axis on projecting to Oxz plane,
As shown in Figure 3.
Barrier within the scope of near field under UUV coordinate system is analyzed using tangential method, barrier is projected into Mxy respectively
In plane and Mxz plane, barrier is analyzed in the infeasible angle in course that horizontal plane and vertical plane generate.
I-th of barrier is denoted as UUV in the minimax angle of the infeasible angle in the course that Mxy plane generates respectivelyWith
I-th of barrier is denoted as UUV in the minimax angle of the infeasible angle in the course that Mxz plane generates respectivelyWith
Expanding treatment is carried out to barrier using the method for angle compensation, that is, passes through the corresponding infeasible boat of amplification barrier
Ensure the safety of UUV to angular regions.When the UUV the remote then bigger to the extruding amplitude of barrier from barrier, work as barrier
Hinder object then extruding amplitude more close from UUV with regard to smaller.UUV can be considered as to a particle by expanding treatment, be effectively simplified rule
The analytic process kept away.
After carrying out expanding treatment to barrier, the infeasible angle in the course that i-th of barrier generates UUV in Mxy plane
Degree is：
Under earth coordinates, i-th of barrier is to UUV in the infeasible angle set in the course that Mxy plane projection generates
It is denoted asMinimax angle is denoted as respectivelyWith
Wherein：
Wherein：θiFor angle of the center of circle under UUV coordinate system of the i-th barrier, σ is the extruding amplitude based on angle,
ED and E η angulation (as shown in Figure 1) in earth coordinates ξ E η plane is projected to for UUV,For the tangent line of the i-th barrier
Angle, and haveθi∈[-π,π]。
After carrying out expanding treatment to barrier, the infeasible angle in the course that i-th of barrier generates UUV in Mxz plane
Degree is：
Under earth coordinates, i-th of barrier is to UUV in the infeasible angle set in the course that Mxz plane projection generates
It is denoted asMinimax angle is denoted as respectivelyWith
Wherein：
Wherein：For the course UUV and earth coordinates ξ E η plane angulation (as shown in Figure 1),For the i-th obstacle
The tangential angle of object, and haveθi∈[-π,π]。
All barriers are denoted as course heading infeasible solution set caused by UUV within the scope of near field
Wherein：N is the number of barrier in UUV short range wireless,For cartesian product.
2, kinematic constraint is analyzed
The current bow of UUV is to angle vectorUUV is defined in the angle of horizontal plane and vertical plane speed
Spend ωcAnd angular accelerationIt is all consistent, UUV is in angular velocity omega in time window Δ tcAnd angular accelerationUnder the action of
The bow that the state space that can be reached is known as UUV is denoted as to window
Wherein：It is bow of the UUV at earth coordinates E- ξ η ζ to angle vector, VH-HEADIn the horizontal plane for UUV
Bow is to window, VV-HEADIt is the bow of UUV on the vertical plane to window,For cartesian product.
The linear velocity v of UUVcUnder the action of linear acceleration a, the state space that can be reached in time window Δ t claims
For the linear velocity window of UUV, it is denoted as VT：
VT=v | v ∈ [vc-a·Δt,vc+a·Δt]} (17)
3, the optimal course heading of UUV
To the yaw degree of bogey heading and deviate the degree of barrier as optimization aim, with the infeasible angle in course using UUV
Degree set and bow are the constrained optimization problem of constraint condition to window, obtain UUV in the optimal course angle of t moment avoiding barrier
Spend vector
Optimization aim：
Wherein
Constraint condition：
Wherein：For the weighted optimization objective function of yaw degree and deviation barrier degree function；For candidate angle
Spend vector (θx,θz), θxFor candidate angleTo Mxy plane projection and Mx axle clamp angle, θzFor candidate angleTo Mxz plane projection
With Mz axle clamp angle；Optimal course heading vectorFor (θx-optimal,θz-optimal),It is relatively projected for the optimal course UUV
To the angle of Exy,It is the optimal course UUV compared with the angle for projecting to Exz；To yaw degree function；
To deviate barrier degree function；fabs() is ABS function, and fabs(·)∈[0,π]；θiIt is projected for i-th of barrier
To the central angle of Mxy plane；αiThe central angle of Mxz plane is projected to for i-th of barrier；N is the number for indicating barrier；ε
For weighting coefficient；For bogey heading vectorIt is the current location UUV and target critical point under absolute coordinate system
The angle vector constituted,AngleTo Mxy plane projection and Mx axle clamp angle,AngleTo Mxy plane projection with
Mx axle clamp angle；VHEADFor UUV bow to window；ΒobsGather for infeasible course corresponding to UUV peripheral obstacle.
4, the optimal linear velocity of UUV
The navigation angle of UUVWith bow to angleBetween difference be defined as bow to angle of deviation θdelta：
θdelta=| θx-optimal-θx-USV|·|θz-optimal-θz-USV| (21)
Wherein：θx-optimalFor angleTo Mxy plane projection and Mx axle clamp angle, θz-optimalFor angleTo Mxz
Plane projection and Mz axle clamp angle；θx-USVFor angleTo Mxy plane projection and Mx axle clamp angle, θz-USVFor angleTo Mxz
Plane projection and Mz axle clamp angle；Bow is to angle of deviation θdelta∈[0,π]。
When UUV bow does not have barrier and θ to regiondeltaWhen smaller, UUV can be with higher speed course.If the area UUV Shou Xiang
There are barrier or θ in domaindeltaWhen larger, UUV needs low steaming.According to the bow of UUV to angle of deviation θdeltaAnd barrier
Distribution situation, the navigation linear velocity of UUV output are vguidance：
Wherein：vmaxThe maximum line velocity that can be exported for UUV；dNearNear field sensor detects maximum distance；For near field
Distance of the UUV to nearest barrier in range.
Specifically include following steps：
Step 1: building is using UAV navigation center of gravity as the three-dimensional system of coordinate of origin, using geometric ball to it is three-dimensional not
Regular barrier is modeled, and barrier is projected in Mxy and Mxz plane, using tangential method to the infeasible of barrier
Angle geometry is analyzed, and the course for obtaining the UAV navigation at earth coordinates E- ξ η ζ can not angle set Βobs；
Step 2：The kinetic characteristic of UAV navigation is analyzed, is sat according to UAV navigation in the earth
The angular acceleration of mark system E- ξ η ζ horizontal plane ξ E η and vertical plane ξ E ζAnd angular velocity omegac, calculate UAV navigation when
Between bow in window delta t to window
Step 3：According to the linear velocity v of UAV navigationcIn linear acceleration a, calculates UAV navigation and exist
Time window Δ t interior lines velocity window VT；
Step 4：According to the bow of UAV navigation to windowWith the infeasible angle set in courseCalculate nothing
The course conceivable angle of people's submarine navigation device
Step 5：If feasible course heading setThen by solving optimal course heading majorized function (formula
(18) (19) (20)), search out one group of optimal navigation angleVector goes to step six；Otherwise, unmanned underwater navigation is adjusted
Device bow is to angleGo to step one；
Step 6：According to the navigation angle of outputWith the distribution situation of barrier before UAV navigation, root
According to leading line rate pattern (formula (22)), the navigation linear velocity v of UAV navigation is exportedguidance；
Step 7：By navigation angle vectorWith navigation linear velocity vguidanceUAV navigation is output to fortune
Dynamic control module, guidance UAV navigation carry out autonomous navigation；
Step 8：Judge whether UAV navigation reaches target point, be, then stops；Otherwise, one is gone to step.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (1)
1. a kind of real-time automatic obstacle avoiding method of deepwater robot, which is characterized in that include the following steps：
Step 1: building using UAV navigation center of gravity as the three-dimensional system of coordinate of origin, using geometric ball to underwater 3 D not
Regular barrier is modeled, and barrier is projected in two perpendicular planes, using tangential method to barrier not
Conceivable angle geometry is analyzed, and the course for obtaining the UAV navigation under earth coordinates can not angle set Βobs；
Step 2：The kinetic characteristic of UAV navigation is analyzed, according to UAV navigation in earth coordinates
The angular acceleration of horizontal plane and vertical planeAnd angular velocity omegac, calculate bow of the UAV navigation in time window Δ t
To window
Step 3：According to the linear velocity v of UAV navigationcIn linear acceleration a, UAV navigation is calculated in the time
The interior lines window delta t velocity window VT；
Step 4：According to the bow of UAV navigation to windowWith the infeasible angle set in courseCalculate unmanned water
The course conceivable angle of lower aircraft
Step 5：If feasible course heading setThen by solving optimal course heading majorized function, one is searched out
The optimal navigation angle of groupVector goes to step six；Otherwise, UAV navigation bow is adjusted to angleGo to step one；
Step 6：According to the navigation angle of outputWith the distribution situation of barrier before UAV navigation, according to leading
Course line rate pattern exports the navigation linear velocity v of UAV navigationguidance；
Step 7：By navigation angle vectorWith navigation linear velocity vguidanceUAV navigation is output to control to movement
Molding block, guidance UAV navigation carry out autonomous navigation；
Step 8：Judge whether UAV navigation reaches target point, be, then stops；Otherwise, one is gone to step.
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| CN112666972A (en) * | 2020-12-15 | 2021-04-16 | 西北工业大学 | Autonomous underwater vehicle obstacle avoidance method based on distance and angle weighting |
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| CN113239520A (en) * | 2021-04-16 | 2021-08-10 | 大连海事大学 | Near-water-bottom three-dimensional underwater terrain environment modeling method |
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Application publication date: 20181116 |