CN109725331A - A kind of unmanned boat barrier-avoiding method based on laser radar - Google Patents
A kind of unmanned boat barrier-avoiding method based on laser radar Download PDFInfo
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Abstract
The invention discloses a kind of unmanned boat barrier-avoiding method based on laser radar, ambient enviroment barrier point cloud data is acquired first with laser radar, carry out clustering processing, then the cluster result of acquisition is calculated, obtain unmanned boat can safety regional scope boundary, then pass through safety angle set, target course and current course angle calculate the course angle of unmanned boat subsequent time, resulting safety path will finally be calculated and be transferred to unmanned boat control unit, make unmanned boat according to path avoiding barrier, the present invention is scientific and reasonable, it is safe and convenient to use, by carrying out clustering processing to laser radar data, enormously simplify point cloud data amount, safe deflection amount is added to simultaneously for safety angle, guarantee that hull can safety, by to unmanned boat current course angle, target course and it can currently lead to safely It crosses three amounts of course angle to be divided, to ensure that unmanned boat can be with avoiding obstacles in the case where can reach target point.
Description
Technical field
The present invention relates to unmanned boat avoidance technical field, specially a kind of unmanned boat barrier-avoiding method based on laser radar.
Background technique
Unmanned surface vehicle is a kind of unattended surface ship, be it is a kind of with autonomous or remote control mode in surface navigation
Miniature self-service drives ship, can be carried to after reservation place by large ship and discharge execution task, can also autonomous navigation to coastal waters mesh
Mark is mainly used for executing task that is dangerous and being unsuitable for the execution of someone's ship, once it is equipped with advanced control system, sensor system
After system, communication system and weapon system, a variety of wars and non-war operations task can be executed.
Unmanned boat needs to carry out avoidance processing to some barriers of the water surface, avoids nobody during the water surface travels
Colliding between ship and barrier causes unmanned boat to damage, traditional avoidance mode when in use, although realizing to obstacle
The evacuation of object, but the course line of unmanned boat is also caused greatly to increase, the efficiency of unmanned boat operation is reduced, so, people are anxious
The novel unmanned boat barrier-avoiding method based on laser radar of one kind is needed to solve the above problems.
Summary of the invention
The present invention provides a kind of unmanned boat barrier-avoiding method based on laser radar, can effectively solve in above-mentioned background technique
The traditional avoidance mode proposed when in use, although realizing the evacuation to barrier, also leads to the course line of unmanned boat
The problem of greatly increasing, reducing the efficiency of unmanned boat operation.
To achieve the above object, the invention provides the following technical scheme: a kind of unmanned boat avoidance side based on laser radar
Method includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2
Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the path
Full avoiding barrier.
According to the above technical scheme, in the step S1, ambient enviroment barrier point cloud data acquired in laser radar
For Dθ, Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud
The cluster of data uses nearest neighbor classifier method, and nearest neighbor classifier method is returned using first point as the starting point of object edge
Enter in the first kind, it is primary since second point to be compared with previous point, if the spacing of two points is less than threshold value, the two
Point belongs in same class, and otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, with such
It pushes away, determines cluster condition, calculation method in nearest neighbor classifier method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in the step S2, determine that unmanned boat currently navigates by the cluster data of laser radar
To direction, whether there are obstacles, can start the safety angle for calculating avoiding barrier when an obstacle is detected, pass through
Cluster result in step S1 calculates clear area Sn, considers unmanned boat local width w, therefore it is small to filter out from Sn width
Safety region Qm is obtained in the element of w, the edge in each safety region indicates Q with anglem=(αm,βm), it examines at this time
Consider unmanned boat local width, offset is increased to the edge in safety regionWherein l is side
Along distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in the step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
At this point, setting the navigation strategy of unmanned boat according to these three amounts；
State 1:Unmanned boat is controlled at this time to target courseNavigation；
State 2:Control unmanned boat is navigated by water along current course angle ψ at this time；
State 3:It is chosen in Ang at this timeIt navigates for the course angle of unmanned boat
Row.
According to the above technical scheme, in the step S4, resulting safety path will be calculated and be transferred to unmanned boat control
Component processed, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, to boat
Barrier on line is evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat with
Unmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategy
Effect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat it
Between realize wireless communication.
Beneficial effects of the present invention: the present invention is scientific and reasonable, safe and convenient to use, by gathering to laser radar data
Class processing enormously simplifies unmanned boat ambient enviroment barrier point cloud data amount, while being added to safety partially for safety angle
Shifting amount provides safe distance for unmanned boat, guarantee hull can safety, by unmanned boat current course angle, unmanned boat
Target course and unmanned boat currently can three amounts of safety course angle divided, to ensure that unmanned boat reachable
To can be with avoiding obstacles, so that unmanned boat under the premise of avoiding obstacles, selects as short as possible in the case where target point
Course line reach target point, effectively improve unmanned boat execute task efficiency, improve the utilization rate of resource.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is step flow diagram of the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1: as shown in Figure 1, the present invention provides a kind of technical solution, a kind of unmanned boat avoidance based on laser radar
Method includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2
Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the path
Full avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,
Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud data
Cluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edge
Primary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong to
In same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recently
Cluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radar
To whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through step
Cluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from Sn
Element obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this time
Unmanned boat local width increases offset to the edge in safety regionWherein l is edge
Distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
WhenUnmanned boat is controlled at this time to target courseNavigation.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unit
Part, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course line
Barrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat with
Unmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategy
Effect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat it
Between realize wireless communication.
Embodiment 2: as shown in Figure 1, a kind of unmanned boat barrier-avoiding method based on laser radar, includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2
Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the path
Full avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,
Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud data
Cluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edge
Primary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong to
In same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recently
Cluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radar
To whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through step
Cluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from Sn
Element obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this time
Unmanned boat local width increases offset to the edge in safety regionWherein l is edge
Distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
Whenψ ∈ Ang controls unmanned boat at this time and navigates by water along current course angle ψ.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unit
Part, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course line
Barrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat with
Unmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategy
Effect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat it
Between realize wireless communication.
Embodiment 3: as shown in Figure 1, a kind of unmanned boat barrier-avoiding method based on laser radar, includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2
Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the path
Full avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,
Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud data
Cluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edge
Primary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong to
In same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recently
Cluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radar
To whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through step
Cluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from Sn
Element obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this time
Unmanned boat local width increases offset to the edge in safety regionWherein l is edge
Distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
WhenIt is chosen in Ang at this timeIt is navigated by water for the course angle of unmanned boat.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unit
Part, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course line
Barrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat with
Unmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategy
Effect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat it
Between realize wireless communication.
Based on above-mentioned, the present invention has the advantages that the present invention is scientific and reasonable, it is safe and convenient to use, by laser radar
Data carry out clustering processing, enormously simplify unmanned boat ambient enviroment barrier point cloud data amount, while adding for safety angle
Added safe deflection amount, provided safe distance for unmanned boat, guarantee hull can safety, by the current course of unmanned boat
Angle, unmanned boat target course and unmanned boat currently can three amounts of safety course angle divided, to ensure that nothing
People's ship can be with avoiding obstacles, so that unmanned boat under the premise of avoiding obstacles, selects in the case where can reach target point
It selects course line as short as possible and reaches target point, effectively improve the efficiency that unmanned boat executes task, improve the utilization of resource
Rate.
Finally, it should be noted that being not intended to restrict the invention the foregoing is merely preferred embodiment of the invention, to the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, for those skilled in the art, still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (6)
1. a kind of unmanned boat barrier-avoiding method based on laser radar, which comprises the steps of:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
S3, pass through safety angle set Ang, unmanned boat target course acquired in step S2 and the current course of unmanned boat
Angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, advise unmanned boat safely according to the path
Obstacle avoidance object.
2. a kind of unmanned boat barrier-avoiding method based on laser radar according to claim 1, it is characterised in that: the step
In S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ, Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIt indicates
On the angular direction θ between barrier at a distance from, the cluster of laser radar point cloud data uses nearest neighbor classifier method, arest neighbors
Clustering method is included into the first kind using first point as the starting point of object edge, since second point it is primary with it is previous
Point is compared, if the spacing of two points is less than threshold value, the two points belong in same class, and otherwise this point is not belonging to this
Class creates class at this time and the point is included into newly-built class, and so on, the side of dynamic threshold is used in nearest neighbor classifier method
Method determines cluster condition, calculation method are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
3. a kind of unmanned boat barrier-avoiding method based on laser radar according to claim 1, it is characterised in that: the step
In S2, determine that whether there are obstacles in unmanned boat current course direction by the cluster data of laser radar, when detecting obstacle
The safety angle that can start calculating avoiding barrier when object, calculates clear area by the cluster result in step S1
Sn considers unmanned boat local width w, therefore filters out element of the width less than w from Sn and obtain safety region Qm, Mei Gean
Q is indicated with angle full by the edge in regionm=(αm,βm), unmanned boat local width is considered at this time, to safety region
Edge increases offsetWherein l is edge distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
4. a kind of unmanned boat barrier-avoiding method based on laser radar according to claim 1, it is characterised in that: the step
In S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
At this point, setting the navigation strategy of unmanned boat according to these three amounts；
State 1:Unmanned boat is controlled at this time to target courseNavigation；
State 2:Control unmanned boat is navigated by water along current course angle ψ at this time；
State 3:It is chosen in Ang at this timeIt is navigated by water for the course angle of unmanned boat.
5. a kind of unmanned boat barrier-avoiding method based on laser radar according to claim 1, it is characterised in that: the step
In S4, resulting safety path will be calculated and be transferred to unmanned boat control unit, so that unmanned boat is according to the resulting boat of calculating
ToCourse angle ψ and safety angle set Ang are navigated by water, and are evaded to the barrier on course line.
6. a kind of unmanned boat barrier-avoiding method based on laser radar according to claim 1, it is characterised in that: in unmanned boat
Portion's integrated installation has control module, realize unmanned boat intelligent barrier avoiding and it is unmanned participate in downward driving, inside unmanned boat each module it
Between communication be wire communication, intelligence system failure, control strategy failure or internal system be in remote control mode under make
Unmanned boat is controlled with remote control, wireless communication is realized between remote control and unmanned boat.
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| CN113389186A (en) * | 2021-07-07 | 2021-09-14 | 安徽工程大学 | Multi-unmanned-boat-cooperated sea surface oil stain cleaning method and system |
| CN114043481A (en) * | 2021-11-26 | 2022-02-15 | 上海景吾智能科技有限公司 | Remote control method and system for automatically avoiding obstacles |
| CN114966742A (en) * | 2022-05-17 | 2022-08-30 | 山东大学 | Brewing environment-oriented crown block three-dimensional obstacle detection method and system |
| CN114966742B (en) * | 2022-05-17 | 2024-09-17 | 山东大学 | Crown block three-dimensional obstacle detection method and system oriented to brewing environment |
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