CN109725331B - Unmanned ship obstacle avoidance method based on laser radar - Google Patents
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Abstract
The invention discloses an unmanned ship obstacle avoidance method based on a laser radar, which comprises the steps of firstly collecting surrounding environment obstacle point cloud data by using the laser radar, carrying out clustering processing, then calculating an obtained clustering result to obtain a region range boundary through which an unmanned ship can safely pass, then calculating a course angle of the unmanned ship at the next moment through a safe passing angle set, a target course angle and a current course angle, and finally transmitting the calculated safety to an unmanned ship control component through a path to enable the unmanned ship to avoid obstacles according to the path.
Description
Technical Field
The invention relates to the technical field of unmanned ship obstacle avoidance, in particular to an unmanned ship obstacle avoidance method based on a laser radar.
Background
The unmanned surface vessel is a small unmanned ship which sails on the water surface in an autonomous or remote control mode, can be carried by a large ship to a predetermined place to release and execute tasks, can also sail to offshore targets autonomously, is mainly used for executing tasks which are dangerous and are not suitable for being executed by manned ships, and can execute various war and non-war military tasks once being equipped with an advanced control system, a sensor system, a communication system and a weapon system.
The in-process that unmanned ship traveles at the surface of water, need keep away the barrier processing to some barriers of the surface of water, avoid bumping between unmanned ship and the barrier and lead to unmanned ship to damage, traditional obstacle avoidance mode when using, has realized dodging to the barrier, but also leads to the great increase of airline of unmanned ship, has reduced the efficiency of unmanned ship operation, so, people's urgent need a novel unmanned ship based on laser radar keeps away the barrier method and solves above-mentioned problem.
Disclosure of Invention
The invention provides an unmanned ship obstacle avoidance method based on a laser radar, which can effectively solve the problems that although the traditional obstacle avoidance mode provided in the background technology is used for avoiding obstacles, the course of the unmanned ship is greatly increased, and the operation efficiency of the unmanned ship is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned ship obstacle avoidance method based on laser radar comprises the following steps:
s1, collecting obstacle point cloud data of the surrounding environment of the unmanned ship by using a laser radar, and performing clustering processing;
s2, calculating the obtained clustering result to obtain the boundary of the region range which can be safely passed by the unmanned ship;
s3, calculating the course angle of the unmanned ship at the next moment through the safety passing angle set Ang obtained in the step S2, the target course angle of the unmanned ship and the current course angle of the unmanned ship;
and S4, transmitting the calculated safety to the unmanned ship control part through the path, so that the unmanned ship safely avoids the obstacle according to the path.
According to the technical scheme, in the step S1, the ambient obstacle point cloud data acquired by the laser radar is D θ ，D θ ＝{L θ L θ ∈ [0, 360) }, where L θ Representing the distance between the laser radar point cloud data and an obstacle in the theta angle direction, adopting a nearest neighbor clustering method for clustering the laser radar point cloud data, taking a first point as a starting point of a target edge, classifying the first point into a first class, comparing the first point with a previous point from a second point, if the distance between the two points is smaller than a threshold value, enabling the two points to belong to the same class, otherwise, enabling the point not to belong to the class, newly constructing the class at the moment, classifying the point into the newly constructed class, and so on, and adopting a dynamic threshold value method in the nearest neighbor clustering method to determine clusteringThe condition, its calculation method is:
where thr represents a threshold;
a is a proportionality coefficient;
Δ θ represents an angle difference between two adjacent data.
According to the technical scheme, in the step S2, whether obstacles exist in the current course direction of the unmanned ship is judged through the cluster data of the laser radar, when the obstacles are detected, the safe passing angle for avoiding the obstacles can be calculated, the obstacle-free area Sn is calculated through the cluster result in the step S1, the width w of the unmanned ship is considered, therefore, elements with the width smaller than w are filtered from Sn to obtain the safe passing area Qm, the edge of each safe passing area represents Q through an angle m ＝(α m ,β m ) At the moment, the width of the unmanned boat is considered, and the offset is added to the edge of the safe passing area
Wherein l is the edge distance;
the set of angles which can be safely passed is Ang = { (alpha) at the moment m +Δk,β m -Δk)|(α m ,β m )∈Q m }。
According to the technical scheme, in the step S3, the number of the flight path parameters of the unmanned ship at the moment is three;
(1) The heading angle psi of the current unmanned ship;
(2) Target course angle of unmanned ship at present
(3) The safe passing angle set Ang of the current unmanned ship is collected;
at the moment, the sailing strategy of the unmanned ship is set according to the three quantities;
state 1:
at the moment, controlling the unmanned boat to turn to the target course angle>
Navigating;
state 2:
at the moment, the unmanned ship is controlled to sail along the current course angle psi;
state 3:
at this point in Ang selects +>
Sailing for the course angle of the unmanned boat.
According to the technical scheme, in the step S4, the calculated safety is transmitted to the unmanned ship control component through the path, so that the unmanned ship obtains the heading according to the calculation
And navigating by the heading angle psi and the safe passing angle set Ang, and avoiding the obstacles on the air route.
According to the technical scheme, the control module is integrally installed in the unmanned ship, intelligent obstacle avoidance and unmanned running are achieved, communication among all modules in the unmanned ship is wired communication, the unmanned ship is controlled by using remote control under the condition that an intelligent system fails, a control strategy fails or the system is in a remote control mode, and wireless communication is achieved between the remote control and the unmanned ship.
The invention has the beneficial effects that: the unmanned ship can avoid the obstacle under the condition of reaching the target point, so that the unmanned ship can select a route as short as possible to reach the target point on the premise of avoiding the obstacle, the efficiency of the unmanned ship for executing tasks is effectively improved, and the utilization rate of resources is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic flow chart of the steps of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
Example 1: as shown in fig. 1, the invention provides a technical solution, and a laser radar-based unmanned ship obstacle avoidance method, which includes the following steps:
s1, collecting obstacle point cloud data of the surrounding environment of the unmanned ship by using a laser radar, and performing clustering processing;
s2, calculating the obtained clustering result to obtain the boundary of the region range which can be safely passed by the unmanned ship;
s3, calculating the course angle of the unmanned ship at the next moment through the safety passing angle set Ang obtained in the step S2, the target course angle of the unmanned ship and the current course angle of the unmanned ship;
and S4, transmitting the calculated safety to the unmanned ship control part through the path, so that the unmanned ship safely avoids the obstacle according to the path.
According to the technical scheme, in the step S1, the ambient obstacle point cloud data acquired by the laser radar is D θ ，D θ ＝{L θ L θ ∈ [0, 360) }, where L θ Indicating the direction of the angle theta with the obstacleThe distance between objects and the clustering of the point cloud data of the laser radar adopt a nearest neighbor clustering method, the nearest neighbor clustering method takes a first point as a starting point of a target edge, the first point is classified into a first class, the first point is compared with a previous point once from a second point, if the distance between the two points is smaller than a threshold value, the two points belong to the same class, otherwise, the point does not belong to the class, the new class is built at the moment, the point is classified into the new class, and so on, a dynamic threshold value method is adopted in the nearest neighbor clustering method to determine clustering conditions, and the calculation method comprises the following steps:
where thr represents a threshold;
a is a proportionality coefficient;
Δ θ represents an angle difference between two adjacent data.
According to the technical scheme, in the step S2, whether an obstacle exists in the current course direction of the unmanned ship is judged through the clustering data of the laser radar, when the obstacle is detected, the safe passing angle for avoiding the obstacle can be calculated, the non-obstacle area Sn is calculated through the clustering result in the step S1, the width w of the unmanned ship is considered, therefore, elements with the width smaller than w are filtered from Sn to obtain a safe passing area Qm, the edge of each safe passing area represents Q through an angle m ＝(α m ,β m ) At the moment, the width of the unmanned boat is considered, and the offset is added to the edge of the safe passing area
Wherein l is the edge distance;
the angle set which can be safely passed is acquired at the moment and is Ang { (alpha) = { (alpha) } { (alpha) m +Δk,β m -Δk)|(α m ,β m )∈Q m }。
According to the technical scheme, in the step S3, the number of the flight path parameters of the unmanned ship is three;
(1) The heading angle psi of the current unmanned ship;
(2) Currently has noTarget course angle of man-boat
(3) The safe passing angle set Ang of the current unmanned ship is collected;
when in use
At the moment, the unmanned boat is controlled to be at the target course angle->
And (5) sailing.
According to the technical scheme, in the step S4, the calculated safety is transmitted to the unmanned ship control component through the path, so that the unmanned ship obtains the heading according to the calculation
And navigating by the heading angle psi and the safe passing angle set Ang, and avoiding obstacles on the air route. />
According to the technical scheme, the control module is integrally installed in the unmanned boat, so that the unmanned boat can intelligently avoid obstacles and run under the condition of unmanned participation, the communication among all modules in the unmanned boat is wired communication, the unmanned boat is controlled by using remote control under the condition that an intelligent system fails, a control strategy fails or the system is in a remote control mode, and the wireless communication between the remote control and the unmanned boat is realized.
Example 2: as shown in fig. 1, an unmanned ship obstacle avoidance method based on a laser radar includes the following steps:
s1, collecting obstacle point cloud data of the surrounding environment of the unmanned ship by using a laser radar, and performing clustering processing;
s2, calculating the obtained clustering result to obtain the boundary of the region range which can be safely passed by the unmanned ship;
s3, calculating the course angle of the unmanned ship at the next moment through the safety passing angle set Ang obtained in the step S2, the target course angle of the unmanned ship and the current course angle of the unmanned ship;
and S4, transmitting the calculated safety to the unmanned ship control part through the path, so that the unmanned ship safely avoids the obstacle according to the path.
According to the technical scheme, in the step S1, the ambient obstacle point cloud data acquired by the laser radar is D θ ，D θ ＝{L θ L θ ∈ [0, 360) }, where L θ The distance between the laser radar point cloud data and an obstacle in the theta angle direction is represented, a nearest neighbor clustering method is adopted for clustering the laser radar point cloud data, a first point is taken as a starting point of a target edge and is classified into a first class, the first point is compared with a previous point from a second point, if the distance between the two points is smaller than a threshold value, the two points belong to the same class, otherwise, the point does not belong to the class, the class is newly built and the point is classified into the newly built class, and so on, a dynamic threshold value method is adopted in the nearest neighbor clustering method to determine clustering conditions, and the calculation method is as follows:
wherein thr represents a threshold;
a is a proportionality coefficient;
Δ θ represents an angle difference between two adjacent data.
According to the technical scheme, in the step S2, whether obstacles exist in the current course direction of the unmanned ship is judged through the cluster data of the laser radar, when the obstacles are detected, the safe passing angle for avoiding the obstacles can be calculated, the obstacle-free area Sn is calculated through the cluster result in the step S1, the width w of the unmanned ship is considered, therefore, elements with the width smaller than w are filtered from Sn to obtain a safe passing area Qm, and the edge of each safe passing area represents Q through an angle m ＝(α m ,β m ) At the moment, the width of the unmanned boat is considered, and the offset is added to the edge of the safe passing area
Wherein l is the edge distance;
the set of angles which can be safely passed is Ang = { (alpha) at the moment m +Δk,β m -Δk)|(α m ,β m )∈Q m }。
According to the technical scheme, in the step S3, the number of the route parameters of the unmanned ship is three;
(1) The heading angle psi of the current unmanned boat;
(2) Target course angle of unmanned ship at present
(3) The safe passing angle set Ang of the current unmanned ship is collected;
when the temperature is higher than the set temperature
And psi belongs to Ang, and controlling the unmanned boat to navigate along the current heading angle psi.
According to the technical scheme, in the step S4, the calculated safety is transmitted to the unmanned ship control component through the path, so that the unmanned ship can obtain the course according to the calculated course
And navigating by the heading angle psi and the safe passing angle set Ang, and avoiding the obstacles on the air route. />
According to the technical scheme, the control module is integrally installed in the unmanned ship, intelligent obstacle avoidance and unmanned running are achieved, communication among all modules in the unmanned ship is wired communication, the unmanned ship is controlled by using remote control under the condition that an intelligent system fails, a control strategy fails or the system is in a remote control mode, and wireless communication is achieved between the remote control and the unmanned ship.
Example 3: as shown in fig. 1, an unmanned ship obstacle avoidance method based on a laser radar includes the following steps:
s1, collecting obstacle point cloud data of the surrounding environment of the unmanned ship by using a laser radar, and performing clustering processing;
s2, calculating the obtained clustering result to obtain the boundary of the region range which can be safely passed by the unmanned ship;
s3, calculating the course angle of the unmanned ship at the next moment through the safety passing angle set Ang, the target course angle of the unmanned ship and the current course angle of the unmanned ship obtained in the step S2;
and S4, transmitting the calculated safety to the unmanned ship control part through the path, so that the unmanned ship safely avoids the obstacle according to the path.
According to the technical scheme, in the step S1, the ambient obstacle point cloud data acquired by the laser radar is D θ ，D θ ＝{L θ L θ ∈ [0, 360) }, where L θ The distance between the laser radar point cloud data and an obstacle in the theta angle direction is represented, a nearest neighbor clustering method is adopted for clustering the laser radar point cloud data, a first point is taken as a starting point of a target edge and is classified into a first class, the first point is compared with a previous point from a second point, if the distance between the two points is smaller than a threshold value, the two points belong to the same class, otherwise, the point does not belong to the class, the class is newly built and the point is classified into the newly built class, and so on, a dynamic threshold value method is adopted in the nearest neighbor clustering method to determine clustering conditions, and the calculation method is as follows:
wherein thr represents a threshold;
a is a proportionality coefficient;
Δ θ represents an angle difference between two adjacent data.
According to the technical scheme, in the step S2, whether an obstacle exists in the current course direction of the unmanned ship is judged through the clustering data of the laser radar, when the obstacle is detected, the safe passing angle for avoiding the obstacle can be calculated, the non-obstacle area Sn is calculated through the clustering result in the step S1, the width w of the unmanned ship is considered, therefore, elements with the width smaller than w are filtered from Sn to obtain a safe passing area Qm, the edge of each safe passing area represents Q through an angle m ＝(α m ,β m ) At this time, examineConsidering the width of the unmanned ship, the offset is added to the edge of the safe passing area
Wherein l is the edge distance;
the set of angles which can be safely passed is Ang = { (alpha) at the moment m +Δk,β m -Δk)|(α m ,β m )∈Q m }。
According to the technical scheme, in the step S3, the number of the flight path parameters of the unmanned ship is three;
(1) The heading angle psi of the current unmanned ship;
(2) Target course angle of unmanned ship at present
(3) The safe passing angle set Ang of the current unmanned ship is collected;
when in use
At this point in Ang it is selected->
Sailing for the course angle of the unmanned boat.
According to the technical scheme, in the step S4, the calculated safety is transmitted to the unmanned ship control component through the path, so that the unmanned ship obtains the heading according to the calculation
And navigating by the heading angle psi and the safe passing angle set Ang, and avoiding the obstacles on the air route. />
According to the technical scheme, the control module is integrally installed in the unmanned ship, intelligent obstacle avoidance and unmanned running are achieved, communication among all modules in the unmanned ship is wired communication, the unmanned ship is controlled by using remote control under the condition that an intelligent system fails, a control strategy fails or the system is in a remote control mode, and wireless communication is achieved between the remote control and the unmanned ship.
Based on the above, the invention has the advantages that: the unmanned ship target distance and the unmanned ship target distance are divided by the current course angle of the unmanned ship, the unmanned ship target course angle and the unmanned ship target safe passing course angle, so that the unmanned ship can avoid the obstacles under the condition of reaching the target point, the unmanned ship can reach the target point by selecting the shortest possible course under the condition of avoiding the obstacles, the efficiency of the unmanned ship to execute tasks is effectively improved, and the utilization rate of resources is improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An unmanned ship obstacle avoidance method based on a laser radar is characterized by comprising the following steps:
s1, collecting obstacle point cloud data of the surrounding environment of the unmanned ship by using a laser radar, and performing clustering processing;
s2, calculating the obtained clustering result to obtain the boundary of the region range which can be safely passed by the unmanned ship;
s3, calculating the course angle of the unmanned ship at the next moment through the safety passing angle set Ang obtained in the step S2, the target course angle of the unmanned ship and the current course angle of the unmanned ship;
s4, transmitting the calculated safety to an unmanned ship control part through a path, so that the unmanned ship safely avoids obstacles according to the path;
in the step S1, the ambient obstacle point cloud data acquired by the laser radar is D θ ，D θ ＝{L θ L θ ∈ [0, 360) }, where L θ The distance between the laser radar point cloud data and an obstacle in the theta angle direction is represented, a nearest neighbor clustering method is adopted for clustering the laser radar point cloud data, a first point is taken as a starting point of a target edge and is classified into a first class, the first point is compared with a previous point from a second point, if the distance between the two points is smaller than a threshold value, the two points belong to the same class, otherwise, the point does not belong to the class, the class is newly built and the point is classified into the newly built class, and so on, a dynamic threshold value method is adopted in the nearest neighbor clustering method to determine clustering conditions, and the calculation method is as follows:
where thr represents a threshold;
a is a proportionality coefficient;
Δ θ represents an angle difference between two adjacent data;
in the step S2, whether an obstacle exists in the current course direction of the unmanned ship is judged through the clustering data of the laser radar, when the obstacle is detected, the safe passing angle for avoiding the obstacle can be calculated, the non-obstacle area Sn is calculated through the clustering result in the step S1, the width w of the unmanned ship is considered, therefore, elements with the width smaller than w are filtered from Sn to obtain a safe passing area Qm, and the edge of each safe passing area represents Q through an angle m ＝(α m ,β m ) At the moment, the width of the unmanned boat is considered, and the offset is added to the edge of the safe passing area
Wherein l is the edge distance;
the set of angles which can be safely passed is Ang = { (alpha) at the moment m +Δk,β m -Δk)|(α m ,β m )∈Q m }；
In the step S3, the number of the flight path parameters of the unmanned ship at the moment is three;
(1) The heading angle psi of the current unmanned ship;
(2) Target course angle of unmanned ship at present
(3) The safe passing angle set Ang of the current unmanned ship is collected;
at the moment, the sailing strategy of the unmanned ship is set according to the three quantities;
state 1:
at the moment, the unmanned boat is controlled to be at the target course angle->
Navigating;
state 2:
ψ ∈ Ang: at the moment, the unmanned ship is controlled to sail along the current course angle psi;
and a state 3:
at this point in Ang it is selected->
Sailing for the course angle of the unmanned boat.
2. The unmanned ship obstacle avoidance method based on the laser radar as claimed in claim 1, wherein: in the step S4, the calculated safe passing path is transmitted to the unmanned ship control component, so that the unmanned ship can obtain the course according to the calculated course
And navigating by the heading angle psi and the safe passing angle set Ang, and avoiding obstacles on the air route.
3. The unmanned ship obstacle avoidance method based on the laser radar as claimed in claim 1, characterized in that: the control module is installed to unmanned ship internal integration, realizes that unmanned ship's intelligence is kept away the barrier and is gone with unmanned participation down, and the communication between each inside module of unmanned ship is wire communication, uses remote control to control unmanned ship under intelligent system inefficacy, control strategy inefficacy or the inside remote control mode that is in of system, realizes wireless communication between remote control and the unmanned ship.
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| CN110262483A (en) * | 2019-06-10 | 2019-09-20 | 华东师范大学 | A kind of unmanned boat course heading control method and unmanned boat |
| CN110441788B (en) * | 2019-07-31 | 2021-06-04 | 北京理工大学 | Unmanned ship environment sensing method based on single line laser radar |
| CN110580045A (en) * | 2019-08-30 | 2019-12-17 | 安徽科微智能科技有限公司 | obstacle avoidance method for unmanned ship |
| CN110750612B (en) * | 2019-10-23 | 2022-06-28 | 福建汉特云智能科技有限公司 | Laser radar-based flight path management method and system |
| CN110850873B (en) * | 2019-10-31 | 2021-06-08 | 五邑大学 | Unmanned ship path planning method, device, equipment and storage medium |
| CN111077541B (en) * | 2019-12-30 | 2022-03-22 | 深圳优地科技有限公司 | Obstacle identification method, obstacle identification device and mobile robot |
| CN111897329A (en) * | 2020-07-22 | 2020-11-06 | 济南浪潮高新科技投资发展有限公司 | Movable garbage can and automatic driving method |
| CN113296120B (en) * | 2021-05-24 | 2023-05-12 | 福建盛海智能科技有限公司 | Obstacle detection method and terminal |
| CN113391642B (en) * | 2021-05-28 | 2022-06-03 | 西南交通大学 | Unmanned aerial vehicle autonomous obstacle avoidance method and system based on monocular vision |
| CN113436467B (en) * | 2021-06-23 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | Collision avoidance decision method for unmanned surface vehicle in river course navigation |
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