CN109116849A - A kind of kernel action amalgamation method for on-line optimization considering unmanned boat movenent performance - Google Patents
A kind of kernel action amalgamation method for on-line optimization considering unmanned boat movenent performance Download PDFInfo
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Abstract
A kind of kernel action amalgamation method for on-line optimization considering unmanned boat movenent performance, belongs to more unmanned boat formation motion planning technical fields.Mainly comprise the following steps the radius of gyration that (1) determines unmanned boat；(2) motion process is decomposed；(3) behavior priority grade is determined；(4) establish and solve motion model and the solution of each behavior；(5) action amalgamation；(6) on-line optimization；(7) judge whether unmanned boat reaches home, the process terminates if reaching, if not reaching return step (4).The present invention calculates the destination collection for meeting unmanned boat actual motion characteristic based on kernel conduct programming result, solves the problems, such as that out-flanking movement or path point of the unmanned boat when tracking programme path are unreachable；For the optimization that kernel action amalgamation method program results carry out, the turnability of unmanned boat, the destination collection of fairing planning are considered, and then help to improve the control precision of unmanned boat；Reduce energy consumption, facilitates energy saving.
Description
Technical field
The invention belongs to more unmanned boat formation motion planning technical fields, and in particular to a kind of consideration unmanned boat movenent performance
Kernel action amalgamation method for on-line optimization.
Background technique
With the rapid development of modern science and technology, marine intelligent transportation has become the important composition portion of China's science and technology development strategy
Point.In recent years the research hotspot risen --- unmanned surface vehicle is a kind of unattended surface ship, is mainly used for executing danger
And it is unsuitable for the task of someone's ship execution.More unmanned boat systems are because its is at low cost, strong robustness, completes the good feature of task
So that more unmanned boat systems are receive more and more attention.In recent years, more unmanned boat system coordination problems have become one
Emerging research hotspot.Unmanned boat formation control refers to that multiple robots during arriving at the destination, keep certain team
Shape, while the control technology of environmental constraints (such as there are barrier, space constraints etc.) is adapted to again.More unmanned boat formation controls
Problem is more unmanned boat coordination problems of a typicalness and versatility, is the basis of more unmanned boat coordination problems, be mostly nobody
Most important in ship system is also most basic problem, is worth thoroughgoing and painstaking research.
To solve the problems, such as more unmanned boat formation, frequently with centralization or distributed formation control method.Compared to concentration
Formula method, distributed method become the heat of research unmanned boat formation problem due to high reliablity, open good, strong flexibility
Point, kernel action amalgamation are a kind of typical method for studying distributed formation control problem.
Paper " the Formation Control of Underactuated that Filippo Arrichiello et al. is delivered
Surface Vessels using the Null Space Based Behavioral Control ", kernel behavior is melted
Conjunction method is used for the formation control of drive lacking unmanned surface vehicle, with formation navigation of the simulated implementation in the case where having obstacle and ocean current environment
Task.
Paper " the Experiments of Formation Control that Gianluca Antonelli et al. is delivered
With Multirobot Systems Using the Null-Space-Based Behavioral Control ", with experiment
Research is attached most importance to, with one group of small size land robot, by executing different experimental duties, static and dynamic disorder
In the case of, it was demonstrated that the validity of kernel action amalgamation method.
The above method is to carry out formation control based on traditional kernel action amalgamation method, and motion planning is by multimachine device
People's system regards particle as, has ignored the mobility turnability of robot, cause lack of driven robot can not track curvature compared with
It is greatly more than the path node of own body movenent performance limitation.In practical engineering applications, unmanned boat can occur in tracking programme path
Detour or the unreachable event of path point, to increase the difficulty that unmanned boat executes task.
Summary of the invention
The purpose of the present invention is to provide a kind of kernel action amalgamation on-line optimization sides for considering unmanned boat movenent performance
Method.On the basis of traditional kernel action amalgamation method, the radius of gyration of ship is determined, quickly solve and move with unmanned boat
The secondary motion planning that performance matches, when can reduce detour walking along the street within the scope of unmanned boat locomitivity and optimize navigation
Between, efficiency and performance can be combined.
The object of the present invention is achieved like this, comprising the following steps:
(1) determine the radius of gyration of unmanned boat: when unmanned boat rotary motion, the track of ship center of gravity is known as turning circle, revolution
The radius of circle is radius of gyration R.The radius of gyration can be found out based on the permanent turning test of unmanned boat, and rudder is turned to certain rudder angle
And remain unchanged, at this moment ship will deviate from former air route and do curvilinear motion, and the radius of permanent revolution curve is the radius of gyration.Or it is logical
Maneuverability l-G simulation test is crossed to find out；
(2) motion process is decomposed: in multi-robot formation motion process, being decomposed into 3 kinds of motor behaviors, target with
Track, avoidance, formation；
(3) determine behavior priority grade: determining the sequence that executes of 3 kinds of motor behaviors, priority be avoidance, target following,
It forms into columns；
(4) establish and solve the motion model of each behavior: known starting point, terminal, Obstacle Position, expectation team of forming into columns
The conditions such as shape, establish the motion model of each behavior, and solve；
(5) action amalgamation: the coupling of 3 kinds of motion models is carried out based on kernel mathematical concept, then finds out final speed
Degree and direction；
(6) on-line optimization: the secondary path planning algorithm by fully considering the turnability of ship movement, in tradition zero
On the basis of spatial behavior merges a motion planning, it is screened out a kind of movement rule in unmanned boat motion range ability again
It draws.On the basis of a traditional motion planning of kernel action amalgamation, retains the first two path point, lighted from third path logical
It crosses and considers that the secondary paths planning method of unmanned boat movenent performance is made in thread path optimization；
(7) judge whether unmanned boat reaches home, the process terminates if reaching, if not reaching return step (4).
The present invention also includes following characteristics:
The method for solving of the step (4) are as follows:
Coordinate of the robot under earth coordinates is set as pi=[xi yi]T, the linear velocity of travelingMesh
Punctuate pt=[xt,yt]T, obstacle article coordinate is pa=[xa,ya]T, δ is the mission function in behaviour control, in which:
δ=f (p)
The derivation of above formula both sides is obtained
J (p) is the Jacobian matrix of δ, then the desired speed of robot are as follows:
V therein is the desired speed for single act, if system needs to be performed simultaneously multiple behavior δ1,δ2,δ3..., it is first
The priority for first formulating each behavior, is indicated with subscript, and the desired speed that can obtain multiple behaviors is v1,v2,v3..., with zero sky
Between method can be in the hope of final speed are as follows:
The priority orders that 3 kinds of behaviors are considered in the step (5), obtaining final speed output is
V=v1+(I-J1 T(J1J1 T)-1J1)[(v2+(I-J2 T(J2J2 T)-1J2)v3]
Method for on-line optimization in the step (6) are as follows: on the basis of traditional kernel action amalgamation method, retain the first two
Path point is lighted from third path by considering that it is excellent that the secondary paths planning method of unmanned boat movenent performance is made in thread path
Change, successively carry out screening backward, until check point be path termination, then terminate.Current trial point is with its first two path point
The circumscribed circle curvature of the triangle of vertex composition is less than unmanned boat and turns round curvature, then retains current trial point；Otherwise it will currently examine
It tests and a little gives up, other member's current trial point positions are estimated based on reckoning method, to calculate the lower path point of own body, examine
Next path point.
Formula is seen below using the triangle circumscribed circle curvature solution that three path points are formed as vertex:
Wherein, a, b, c are respectively the side length of triangle；A, B, C are respectively check point and its first two node is set of vertices
At vertex of a triangle；R is triangle circumradius；K is triangle circumscribed circle curvature；
According to formulaThe planning curvature solved is less than unmanned boat and turns round curvature compared with ship revolution curvature
Then retain current trial point, greater than this node is then given up, examines the optimal point set next point in the path.
The beneficial effects of the present invention are:
(1) on the basis of traditional kernel action amalgamation method, by analyzing unmanned boat gyroscopic characteristics, it is based on kernel row
It is realized for method and quadratic programming strategy and calculates and meet based on kernel conduct programming result in the optimization of thread path
The destination collection of unmanned boat actual motion characteristic, solving out-flanking movement or path point of the unmanned boat when tracking programme path can not
Up to problem；
(2) method of the invention is the optimization carried out for kernel action amalgamation method program results, considers unmanned boat
Turnability, the destination collection of fairing planning and then helps to improve the control precision of unmanned boat；
(3) due to reducing energy consumption present method solves dog leg problem, facilitate energy saving.
Figure of description
Fig. 1 is a kind of kernel action amalgamation method for on-line optimization flow chart for considering unmanned boat movenent performance.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
The present invention is realized online by analysis unmanned boat gyroscopic characteristics based on kernel behavioral approach and quadratic programming strategy
The optimization in path is calculated the destination collection for meeting unmanned boat kinetic characteristic, is solved based on kernel conduct programming data
Unmanned boat out-flanking movement or the problems such as unreachable path point when tracking programme path.
Fig. 1 describes the kernel action amalgamation method for on-line optimization process of consideration unmanned boat movenent performance of the invention
Figure.The specific implementation steps are as follows:
(1) determine the radius of gyration of unmanned boat: when unmanned boat rotary motion, the track of ship center of gravity is known as turning circle, revolution
The radius of circle is radius of gyration R.The radius of gyration can be found out based on the permanent turning test of unmanned boat, and rudder is turned to certain rudder angle
And remain unchanged, at this moment ship will deviate from former air route and do curvilinear motion, and the radius of permanent revolution curve is the radius of gyration.Or it is logical
Maneuverability l-G simulation test is crossed to find out.
(2) motion process is decomposed: in multi-robot formation motion process, being decomposed into 3 kinds of motor behaviors, target with
Track, avoidance, formation.
(3) determine behavior priority grade: determining the sequence that executes of 3 kinds of motor behaviors, priority be avoidance, target following,
It forms into columns.
(4) establish and solve the motion model of each behavior: known starting point, terminal, Obstacle Position, expectation team of forming into columns
The conditions such as shape, establish the motion model of each behavior, and solve.
Coordinate of the robot under earth coordinates is set as pi=[xi yi]T, the linear velocity of travelingMesh
Punctuate pt=[xt,yt]T, obstacle article coordinate is pa=[xa,ya]T, δ is the mission function in behaviour control, in which:
δ=f (p) (1)
To (1) formula both sides derivation:
J (p) is the Jacobian matrix of δ, then the desired speed of robot are as follows:
(3) v in is the desired speed for single act, if system needs to be performed simultaneously multiple behavior δ1,δ2,δ3...,
The priority for formulating each behavior first, is indicated with subscript, and the desired speed that can obtain multiple behaviors is v1,v2,v3..., with zero
Space-wise can be in the hope of final speed are as follows:
(5) action amalgamation: the coupling of 3 kinds of motion models is carried out based on kernel mathematical concept, then finds out final speed
Degree and direction.
Consider the priority orders of 3 kinds of behaviors, formula (5) are shown in available final speed output.
V=v1+(I-J1 T(J1J1 T)-1J1)[(v2+(I-J2 T(J2J2 T)-1J2)v3] (5)
(6) on-line optimization: the secondary path planning algorithm by fully considering the turnability of ship movement, in tradition zero
On the basis of spatial behavior merges a motion planning, it is screened out a kind of movement rule in unmanned boat motion range ability again
It draws.On the basis of a traditional motion planning of kernel action amalgamation, retains the first two path point, lighted from third path logical
It crosses and considers that the secondary paths planning method of unmanned boat movenent performance is made in thread path optimization.
Method for on-line optimization is to retain the first two path point, from third on the basis of traditional kernel action amalgamation method
It lights by considering that the secondary paths planning method of unmanned boat movenent performance is made in thread path double optimization, backward successively in a path
Carry out screening, until check point be path termination, then terminate.If current trial point and its first two path point are vertex composition
The circumscribed circle curvature of triangle is less than unmanned boat and turns round curvature, then retains current trial point；Otherwise current trial point is given up, base
Estimate that next path point is examined to calculate the lower path point of own body in other member's current trial point positions in reckoning method.
Formula (6)-(10) are seen using the triangle circumscribed circle curvature solution that three path points are formed as vertex.
Wherein, A, B, C are respectively check point and its first two node is the vertex of a triangle of vertex composition, and a, b, c divide
Not Wei triangle side length, r be triangle circumradius, k be triangle circumscribed circle curvature.
The planning curvature solved according to formula (10) can turn round compared with curvature with ship, and it is bent to be less than unmanned boat revolution
Rate then retains current trial point, greater than this node is then given up, examines the optimal point set next point in the path.
(7) judge whether unmanned boat reaches home, the process terminates if reaching, if not reaching return step (4).
It, can be compared with using the kernel action amalgamation method for on-line optimization provided by the invention for considering unmanned boat movenent performance
Readily on the basis of a traditional motion planning of kernel action amalgamation, to carry out path planning optimization, calculating and meet nothing
The destination collection of people's ship actual motion characteristic, realizes the formation control of more unmanned boats.
(2) step decomposes robot kinematics, refers to robot in the motion process from starting point to terminal,
Motion planning can be decomposed into three kinds of intentions, target following behavior, avoid-obstacle behavior, formation behavior.
(3) step, the characteristics of determining behavior priority grade, are: 3 kinds of behaviors that motion process decomposes, when robot executes
Certain sequencing is had, priority determines that needs are theoretical according to kernel and the intention progress of motion planning demand is true
It is fixed.The 3 kinds of behaviors decomposed in (2) step, priority are avoidance, target following, formation.
(4) step, the motion model for establishing each decomposition behavior are characterized in that: δ (x, y) is controllable task variable,
By it to the derivation of time t, transformation can be in the hope of rate pattern.Since speed is vector, so its direction is robot planning
The direction of motion.
(5) step, action amalgamation are characterized in that: based on the behavior priority grade determined in (2) step, being based on kernel number
The coupling that concept carries out 3 kinds of motion models is learned, final speed and direction are then found out
(6) step, on-line optimization: retaining the first two path point, lights from third path by considering unmanned boat movement
The secondary paths planning method of performance is made in thread path double optimization, successively carries out screening backward, until check point is that path is whole
Point, then terminate.If current trial point and its first two path point are that its circumscribed circle curvature of triangle of vertex composition is less than nobody
Ship turns round curvature, then retains current trial point；Otherwise current trial point is given up, other members is estimated based on reckoning method
Next path point is examined to calculate the lower path point of own body in current trial point position.
The present invention discloses a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance in a word.Zero is empty
Between action amalgamation method, be applied to more unmanned boat formation control fields when, unmanned boat is simply considered as a particle, first will
Motion process is based on being intended to do behavior decomposition, then carries out motion planning.However, the path point set data that real-time online is cooked up are
Under ideal conditions, the actual motion performance characteristic of ship is not accounted for.Since unmanned boat is difficult to track the biggish road of curvature
Diameter node (being more than the movenent performance limitation of itself), causes to generate roundabout or goal nonreachable.One kind of the present invention is examined
The kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance solves the above problem, is having formation action amalgamation
Under the premise of motion planning, calculate a kind of path planning for meeting unmanned boat actual motion characteristic, thus increase mostly nobody
The suitability of ship kernel action amalgamation formation control method, is conducive to engineer application.
Key step: (1) determine the radius of gyration of unmanned boat: when unmanned boat rotary motion, what ship barycenter trajectory was formed is returned
The radius turn-taked is radius of gyration R；(2) motion process is decomposed: in multi-robot formation motion process, is decomposed into 3
Kind motor behavior, target following, avoidance, formation；(3) determine behavior priority grade: determine 3 kinds of motor behaviors executes sequence,
Priority is avoidance, target following, formation；(4) establish and solve the motion model of each behavior: known starting point, terminal, barrier
Hinder object location, the conditions such as expectation formation of forming into columns, establishes the motion model of each behavior, and solve；(5) action amalgamation: it is based on zero
Space mathematical concept carries out the coupling of 3 kinds of motion models, then finds out final speed and direction；(6) on-line optimization: before reservation
Two path points are lighted from third path by considering that the secondary paths planning method of unmanned boat movenent performance is made in thread path
Optimization；(7) judge whether unmanned boat reaches home, the process terminates if reaching, if not reaching return step (4).
Claims (6)
1. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance characterized by comprising
(1) radius of gyration of unmanned boat is determined；The radius of gyration is based on the permanent turning test of unmanned boat and finds out, and rudder is turned to centainly
Rudder angle simultaneously remains unchanged, and at this moment ship will deviate from former air route and do curvilinear motion, and the radius of permanent revolution curve is radius of gyration R；
(2) motion process is decomposed；Target following, avoidance are decomposed into multi-robot formation motion process, 3 kinds of movements of forming into columns
Behavior；
(3) behavior priority grade is determined；Determine that the sequence that executes of 3 kinds of motor behaviors, priority are avoidance, target following, formation；
(4) establish and solve the motion model of each behavior；Known starting point, terminal, Obstacle Position, expectation formation of forming into columns,
Establish the motion model of each behavior and solution；
(5) action amalgamation；The coupling that 3 kinds of motion models are carried out based on kernel mathematical method, then find out final speed and
Direction；
(6) on-line optimization: the secondary path planning algorithm by considering the turnability of ship movement, in traditional kernel behavior
On the basis of merging a motion planning, it is screened out a kind of motion planning in unmanned boat motion range ability again；
(7) judge whether unmanned boat reaches home, the process terminates if reaching, if not reaching return step (4).
2. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance according to claim 1,
It is characterized by: the revolution that ship barycenter trajectory is formed when the unmanned boat radius of gyration refers to towed cable in the step (1)
The radius R, R of circle are measured by ship turning test or are obtained by ship's manoeuverability l-G simulation test.
3. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance according to claim 1,
It is characterized by: the step (4) establishes model and method for solving are as follows: δ is task variable, by it to the derivation of time t, transformation
Acquire rate pattern；Coordinate of the robot under earth coordinates is set as the linear velocity of travelingTarget point pt
=[xt,yt]T, obstacle article coordinate is pa=[xa,ya]T, δ is the mission function in behaviour control, wherein δ=f (p), both sides are asked
It leadsJ (p) is the Jacobian matrix of δ, then the desired speed of robot isv
It is the desired speed for single act, if system needs to be performed simultaneously multiple behavior δ1,δ2,δ3..., each behavior is formulated first
Priority, indicated with subscript, obtain multiple behaviors desired speed be v1,v2,v3... is acquired final with kernel method
Speed isSpeed is vector, and direction is the robot planning direction of motion.
4. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance according to claim 1,
It is characterized by: considering the priority orders of 3 kinds of behaviors in the step (5), obtaining final speed output is v=v1+
(I-J1 T(J1J1 T)-1J1)[(v2+(I-J2 T(J2J2 T)-1J2)v3]。
5. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance according to claim 1,
It is characterized by: method for on-line optimization is on the basis of traditional kernel action amalgamation method, before reservation in the step (6)
Two path points are lighted from third path by considering that the secondary paths planning method of unmanned boat movenent performance is made in thread path
Optimization, successively carry out screening backward, until check point be path termination, then terminate；Current trial point and its first two path point
It is less than unmanned boat revolution curvature for the circumscribed circle curvature of the triangle of vertex composition, then retains current trial point；It otherwise will be current
Check point is given up, and estimates other member's current trial point positions based on reckoning method, to calculate the lower path point of own body, inspection
Test next path point.
6. a kind of kernel action amalgamation method for on-line optimization for considering unmanned boat movenent performance according to claim 5,
It is characterized by: the triangle circumscribed circle is made of three path points for vertex, curvature solution sees below formula:
Wherein, a, b, c are respectively the side length of triangle；A, B, C are respectively check point and its first two node is that vertex forms
Vertex of a triangle；R is triangle circumradius；K is triangle circumscribed circle curvature.
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| CN110231821A (en) * | 2019-06-03 | 2019-09-13 | 哈尔滨工程大学 | The adaptive kernel action amalgamation method of the improvement of multi-robot formation |
| CN112327872A (en) * | 2020-11-20 | 2021-02-05 | 哈尔滨工程大学 | Double unmanned ship cooperative track tracking method for oil spill containment |
| CN112327872B (en) * | 2020-11-20 | 2021-08-03 | 哈尔滨工程大学 | Double unmanned ship cooperative track tracking method for oil spill containment |
| CN114815854A (en) * | 2022-06-27 | 2022-07-29 | 三亚哈尔滨工程大学南海创新发展基地 | Double unmanned boat formation control method for marine target enclosure |
| CN115248599A (en) * | 2022-09-22 | 2022-10-28 | 三亚哈尔滨工程大学南海创新发展基地 | Priority-variable multi-robot zero-space behavior fusion formation method |
| CN116107319A (en) * | 2023-04-12 | 2023-05-12 | 中国船舶集团有限公司第七一九研究所 | Intelligent ship energy-saving course formation method, system and storage medium |
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