CN109883427A - 一种基于Dubins路径和概率威胁地图的无人船的避障方法 - Google Patents
一种基于Dubins路径和概率威胁地图的无人船的避障方法 Download PDFInfo
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- CN109883427A CN109883427A CN201910230111.4A CN201910230111A CN109883427A CN 109883427 A CN109883427 A CN 109883427A CN 201910230111 A CN201910230111 A CN 201910230111A CN 109883427 A CN109883427 A CN 109883427A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110297500A (zh) * | 2019-06-28 | 2019-10-01 | 天津大学 | 一种给定多航路点下无人机的连续航迹规划方法 |
CN113296505A (zh) * | 2021-05-19 | 2021-08-24 | 华南理工大学 | 一种基于速变los的无人船多模式路径跟踪控制方法 |
CN113515109A (zh) * | 2021-04-16 | 2021-10-19 | 广东工业大学 | 一种模拟海洋动态不确定环境的航行器路径规划方法 |
CN113625723A (zh) * | 2021-08-22 | 2021-11-09 | 广东海洋大学 | 一种无人船动态避碰控制系统 |
CN115686069A (zh) * | 2022-11-15 | 2023-02-03 | 杭州国科骏飞光电科技有限公司 | 一种无人机集群的同步协调控制方法及系统 |
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CN103676944A (zh) * | 2013-12-11 | 2014-03-26 | 北京理工大学 | 基于Dubins路径和稀疏A*搜索的无人机航迹规划方法 |
CN108536149A (zh) * | 2018-04-25 | 2018-09-14 | 吉林大学 | 一种基于Dubins路径的无人驾驶车辆避障控制装置及控制方法 |
US20180284769A1 (en) * | 2017-03-29 | 2018-10-04 | Mitsubishi Electric Research Laboratories, Inc. | Vehicle Motion Control System and Method |
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2019
- 2019-03-25 CN CN201910230111.4A patent/CN109883427B/zh active Active
Patent Citations (3)
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CN103676944A (zh) * | 2013-12-11 | 2014-03-26 | 北京理工大学 | 基于Dubins路径和稀疏A*搜索的无人机航迹规划方法 |
US20180284769A1 (en) * | 2017-03-29 | 2018-10-04 | Mitsubishi Electric Research Laboratories, Inc. | Vehicle Motion Control System and Method |
CN108536149A (zh) * | 2018-04-25 | 2018-09-14 | 吉林大学 | 一种基于Dubins路径的无人驾驶车辆避障控制装置及控制方法 |
Non-Patent Citations (3)
Title |
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WANG ZHONG,ET AL.: "An Approximation Path Planning Algorithm for Fixed-wing UAVs in Stationary Obstacle Environment", 《PROCEEDINGS OF THE 33RD CHINESE CONTROL CONFERENCE》 * |
宋雪倩等: "基于Dubins路径的A~*算法的多无人机路径规划", 《电光与控制》 * |
胡蔷等: "基于Dubins曲线和改进A*算法的AUV路径规划方法", 《计算机测量与控制》 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110297500A (zh) * | 2019-06-28 | 2019-10-01 | 天津大学 | 一种给定多航路点下无人机的连续航迹规划方法 |
CN113515109A (zh) * | 2021-04-16 | 2021-10-19 | 广东工业大学 | 一种模拟海洋动态不确定环境的航行器路径规划方法 |
CN113515109B (zh) * | 2021-04-16 | 2024-04-09 | 广东工业大学 | 一种模拟海洋动态不确定环境的航行器路径规划方法 |
CN113296505A (zh) * | 2021-05-19 | 2021-08-24 | 华南理工大学 | 一种基于速变los的无人船多模式路径跟踪控制方法 |
CN113625723A (zh) * | 2021-08-22 | 2021-11-09 | 广东海洋大学 | 一种无人船动态避碰控制系统 |
CN113625723B (zh) * | 2021-08-22 | 2022-05-27 | 广东海洋大学 | 一种无人船动态避碰控制系统 |
CN115686069A (zh) * | 2022-11-15 | 2023-02-03 | 杭州国科骏飞光电科技有限公司 | 一种无人机集群的同步协调控制方法及系统 |
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Application publication date: 20190614 Assignee: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Assignor: JIANGSU University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022320000094 Denomination of invention: An obstacle avoidance method for unmanned ships based on dubins path and probability threat map License type: Common License Record date: 20220609 |
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Inventor after: Yang Xiaofei Inventor after: Wang Zhe Inventor after: Li Deming Inventor after: Li Jiamin Inventor after: Huang Lin Inventor after: Ye Hui Inventor after: Zhu Zhiyu Inventor before: Wang Zhe Inventor before: Li Deming Inventor before: Li Jiamin Inventor before: Huang Lin Inventor before: Yang Xiaofei Inventor before: Ye Hui Inventor before: Zhu Zhiyu |
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