CN110083159A - The autonomous dynamic collision prevention method of unmanned boat constrained based on SBG and dynamic window - Google Patents
The autonomous dynamic collision prevention method of unmanned boat constrained based on SBG and dynamic window Download PDFInfo
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Abstract
The invention discloses a kind of autonomous dynamic collision prevention methods of unmanned boat constrained based on SBG and dynamic window, avoiding barrier while enabling unmanned boat to navigate by water along the path planned in advance, using the unmanned boat mode switching method based on SBG algorithm, when meeting certain condition, unmanned boat can be made to switch between path follow the mode and collision prevention mode, to realize that Track In Track control is combined with collision prevention path planning；In view of the maneuverability of ship itself, the reaction equation collision prevention method constrained based on dynamic window is designed, the case where controller is unable to reach the state of collision prevention output is effectively solved；In combination with International Maritime rule, design meets the unmanned boat collision prevention path of maritime affairs rule, it is ensured that safety when unmanned boat collision prevention.
Description
Technical field
It a kind of is constrained the present invention relates to the autonomous dynamic collision prevention method of unmanned boat more particularly to based on SBG and dynamic window
The autonomous dynamic collision prevention method of unmanned boat.
Background technique
Wide ocean is richly stored with living resources, mineral resources, as science and technology is grown rapidly, will become
The main battle ground of various countries' contention resource.Unmanned water surface ship (USV, Unmanned Surface Vessel) is as a kind of by long-range
Remote control has small in size, fast from master mode in unmanned, the intelligent carrying platform of surface navigation compared to normal shipboard
The characteristic that degree is fast, intelligence degree is high.At civilian aspect, unmanned boat can reduce the safety that expense pays and improves ship's navigation
Property；In military aspect, unmanned boat can be deployed in dangerously exposed waters and execute task, and be unsuitable for what someone's naval vessels or ship executed
Task, to guarantee personal safety.
Since water surface unmanned boat operating environment is complicated, influenced by dynamic static-obstacle thing, therefore have certain danger and evade
Ability is both the necessary condition for guaranteeing the premise of unmanned boat safe navigation and unmanned boat and being operated.Unmanned boat collision-avoidance planning
Including global path planning and Local obstacle avoidance, global path planning passes through static method, planning according to the information in known sea area
A collision prevention path from origin-to-destination out；Local obstacle avoidance obtains ship pose and detection model according to on-board sensor information
The distribution situation of interior barrier is enclosed, so that cooking up part nothing in real time by avoidance algorithm touches path.It is big due to existing in waters
The barrier that can not be predicted in advance is measured, therefore local danger is carried out by real time sensor and evades the important researching value possessed
With wide application prospect.
Currently, traditional Local obstacle avoidance method seldom considers the constraint of Ship Maneuverability, it is easy life at high speeds
The collision prevention output being unable to reach at dynamics；In addition, most of existing method does not consider International Maritime rule, be merely for
Avoiding barrier and algorithm for design, in practical collision prevention be easy to cause danger.
Summary of the invention
Goal of the invention: in view of the above problems, the present invention proposes that a kind of unmanned boat constrained based on SBG and dynamic window is autonomous
Dynamic collision prevention method makes unmanned boat avoiding barrier while the track navigation along global path planning.
Technical solution: to achieve the purpose of the present invention, the technical scheme adopted by the invention is that: one kind is based on SBG and moves
The autonomous dynamic collision prevention method of unmanned boat of state window constraint, comprising steps of
(1) velocity information and location information of unmanned boat and barrier are obtained, and unmanned boat is judged according to SBG switching method
Select path trace mode or collision prevention mode；
(2) if unmanned boat collisionless is dangerous, path trace mode is selected, it is mobile towards target point；If desired obstacle avoidance
Object then selects collision prevention mode, and judges Meeting Situation according to International Regulations for Preventing Collisions at Sea, and determine that unmanned boat is bypassed from which side
Barrier；
(3) by acquiring collision prevention path as the method that tangent line obtains intersection point from unmanned boat and next path point to inner circle respectively
Point, and collision prevention path point is selected according to unmanned boat direction of circling；
(4) required yawing angle when seeking unmanned boat avoiding barrier by sight line guidance algorithm；
(5) according to the limitation of unmanned boat direction rudder and propeller, the dynamic window and bow for acquiring unmanned boat are to window；
(6) yawing angle needed for unmanned boat being reached collision prevention path point is compared with bow to window, if yawing angle
In bow into window, then unmanned boat is travelled by the angle；Conversely, then according to COLREGS rule, unmanned boat takes bow to window
Maximum or minimum bow is travelled to angle；
(7) judge whether unmanned boat reaches collision prevention path point.If unmanned boat reach collision prevention path point, be restored to track with
Track mode, conversely, then going to step 4 continues avoiding barrier.
Further, in the step 1, the SBG switching method specifically: when unmanned boat at a distance from barrier
Within 100m, and when changing over time distance and being gradually shortened, unmanned boat is from path trace pattern switching to collision prevention mode；Otherwise,
Unmanned boat keeps path trace mode, with the fixed downward path point navigation of speed.
Further, in the step 2, the Meeting Situation includes overtaking situation, head on situation and intersection situation.
Further, circular in the step 5 are as follows: according to the angular acceleration of unmanned boat limit, calculate when
Between window TsInterior unmanned boat is from the attainable angular velocity range V of current angular velocityd；According to the rate limitation of unmanned boat, calculate when
Between window TsInterior unmanned boat is from the attainable angular velocity range V of current angular velocitys；Then the dynamic window of unmanned boat is two angle speed
Spend the intersection of window；According to the dynamic window of unmanned boat, time window T is calculatedsInterior unmanned boat is attainable from current bow to angle
Bow is to angular region, and the referred to as bow of unmanned boat is to window.
Further, in the step 7, judge the method whether unmanned boat reaches collision prevention path point are as follows: calculate unmanned boat
To the distance of collision prevention path point, if distance is less than 5m, show that unmanned boat reaches collision prevention path point, collision prevention terminates, and unmanned boat is cut
Path trace mode is changed to, conversely, unmanned boat keeps collision prevention mode.
The utility model has the advantages that compared with prior art, outstanding advantages of the invention are:
(1) the unmanned boat mode switching method based on SBG algorithm is used, this method can make unmanned boat follow mould in path
It is switched between formula and collision prevention mode, enables unmanned boat while the path for tracking Global motion planning is navigated by water, evade track
The dynamic and static barrier occurred on line；
(2) present invention considers the maneuverability of ship itself, designs the reaction equation collision prevention method constrained based on dynamic window,
Efficiently solve the case where controller is unable to reach the state of collision prevention output；
(3) autonomous dynamic collision prevention method is combined with International Maritime rule, determine it is different can meet in the case of unmanned boat
Navigate by water direction, it is ensured that safety when unmanned boat collision prevention.
Detailed description of the invention
Fig. 1 is the autonomous dynamic collision prevention method flow diagram of unmanned boat constrained based on SBG and dynamic window；
Fig. 2 is barrier peripheral region division figure；
Fig. 3 is the relative position schematic diagram of unmanned boat and barrier；
Fig. 4 is maritime affairs collision regulation division figure；
Fig. 5 is unmanned boat collision prevention path point schematic diagram；
Fig. 6 is unmanned boat collision prevention figure under single barrier overtaking situation；
Fig. 7 is unmanned boat collision prevention figure under single barrier head on situation；
Fig. 8 is that single barrier intersects unmanned boat collision prevention figure under situation；
Fig. 9 is unmanned boat collision prevention figure in the case of multiple barriers.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawings and examples.
As shown in Figure 1, the unmanned boat autonomous dynamic collision prevention method of the present invention constrained based on SBG and dynamic window,
Comprising steps of
Step 1: the velocity information and location information of unmanned boat and barrier are obtained, and nothing is judged according to SBG switching method
People's ship should pursuit path or avoiding barrier；
SBG switching method is as follows: at a distance from unmanned boat with barrier within 100m, and changing over time distance gradually
When shortening, unmanned boat is from path trace pattern switching to collision prevention mode；Otherwise, unmanned boat keeps path trace mode, with fixation
Speed downward path point navigation.
As shown in Fig. 2, can be three parts: safety zone, collision prevention region and taboo by the region division around barrier
Only region, wherein the radius of collision prevention region and prohibited area is respectively RmAnd Ro。
By calculating the distance between barrier center and unmanned boat σ and and RmSize be compared, switched by SBG
Method determines that mode is effective.
The relative distance of unmanned boat and barrier is calculated according to the position of unmanned boat and barrier in east northeast coordinate system are as follows:
In formula, p (t) and poIt (t) is respectively the position of unmanned boat and barrier in east northeast coordinate system.
Effective value set C of task σ are as follows:
C=[σmin,σmax]=[min (Rm,max(σ,Ro)),∞)
Cone of tangents T on effective value set CC(σ) are as follows:
As shown in figure 3, effectively value set C is dash area in figure.
As σ > RmWhen (left figure), C=[Rm, ∞), therefore σ ∈ (σmin,σmax), USV is always within cone of tangents at this time, so road
Diameter tracing mode is effective.
Work as Ro≤σ≤RmWhen (middle), C=[σ, ∞), σ=σ at this timemin, therefore only work asWhen, USV cone of tangents it
It is interior, so when work asWhen, path trace mode be it is effective, whenWhen, collision prevention mode is effective.
As σ < RoWhen (right figure), the distance delta of USV to barrier center has violated collision prevention control outside virtual value collection C at this time
The target of system.
Step 2: mobile towards target point with fixed speed and bow to angle size if unmanned boat collisionless is dangerous；If
Avoiding barrier is needed, then Meeting Situation is judged according to International Regulations for Preventing Collisions at Sea, and determines unmanned boat from which side around barrier
Hinder object；
As shown in figure 4, according to collision regulation, in the case where unmanned boat and blockship " visible mutually ", it would be possible to encounter
Meeting Situation be divided into overtaking situation, head on situation and intersect situation three classes.By relative bearing angle beta, distinguishes and define each meeting
Meet situation:
(1) overtaking situation
If USV high speed operation close to barrier and with the relative bearing of barrier meet β ∈ [112.5 °, 247.5 °)
When, form overtaking situation.USV can both pass through on the left of blockship at this time, can also pass through on the right side of blockship.
(2) head on situation
If USV and barrier relative bearing meet β ∈ [0 °, 15 °) ∪ [345 °, 360 °), and close to risk distance, then
Formation is met situation.USV should be turned to its right string at this time, be passed through from barrier left side.
(3) intersect situation
If USV and barrier relative bearing meet β ∈ [15 °, 112.5 °) ∪ [247.5 °, 345 °), and close to danger
Distance then forms intersection situation.At this point for USV and blockship, when its right string is give-way vessel there are the ship of another ship, answer
It turns to, passes through from the rear of another ship, another ship should then keep its speed and course when to its right string.
Step 3: by acquiring collision prevention as the method that tangent line obtains intersection point from unmanned boat and next path point to inner circle respectively
Path point, and collision prevention path point is selected according to unmanned boat direction of circling；
As shown in figure 5, doing tangent line from unmanned boat and next path point to inner circle respectively, and according to similar triangle theory
Acquire point of contact；Then, the expression formula for acquiring tangent line respectively obtains two intersection points of tangent line；It is advised then according to International Maritime collision prevention
It can then determine which intersection point is new collision prevention path point.
Step 4: required yawing angle when seeking unmanned boat avoiding barrier by sight line guidance algorithm；
Step 5: according to the limitation of unmanned boat direction rudder and propeller, the dynamic window V of unmanned boat is acquiredrWith bow to window
Mouth θr；
It is limited, is calculated in time window T according to the angular acceleration of unmanned boatsInterior unmanned boat is attainable from current angular velocity
Angular velocity range is denoted as Vd；According to the rate limitation of unmanned boat, calculate in time window TsInterior unmanned boat is from current angular velocity energy
The angular velocity range reached, is denoted as Vs；Then the dynamic window of unmanned boat is the intersection of two angular speed windows；According to unmanned boat
Dynamic window calculates time window TsInterior unmanned boat is from current bow to the attainable bow in angle to angular region, the referred to as bow of unmanned boat
To window.
Direction rudder angles and angular speed are limited as follows:
||δ||∞≤δmax
In time Ta(TaMuch smaller than the cycle T that DW algorithm is used to calculate search spaces) in, rudder angle δψVariation
Range are as follows:
The thrust F of surge directionX∈[FX,min,FX,max], the power and torque for acting on ship can use τ (ν, δψ, FX) come
It indicates, accelerationRange are as follows:
i∈{min,max}
τmin=τ (ν*,max(δψ),min(FX))
τmax=τ (ν*,min(δψ),max(FX))
By the physical constraint of engine of boat and ship, within a certain period of time, the acceleration of unmanned boat is restricted.These are constrained in
A dynamic window is formd in angular velocity space, the window in given time interval from ship present speed by that can reach
All speed composition arrived.This dynamic window are as follows:
In formula, r*For the current angular speed of ship,It is in time TsInterior ship can reach minimum and most
Big angular acceleration, can be by accelerationIt obtains.
Speed by the constraint of rudder sail angle and airscrew thrust, unmanned boat is restricted, and defines a function g
(r), which is positive semi-definite for feasible speed, otherwise is negative definite, it may be assumed that
Vs=r | g (r) >=0 }
Function g (r) is obtained by the steady state solution boundary of Ship ' kinetic model, it may be assumed that
The dynamic window V of unmanned boatrIt can be made of the intersection of two angular speed windows, it may be assumed that
Vr=Vs∩Vd
According to above formula, unmanned stem can be found out in cycle TsThe interior angle that can be gone to, i.e. bow are to window are as follows:
θr=θ | θ ∈ [θh+Vr,min·Ts,θh+Vr,max·Ts]}
In formula, VR, minAnd VR, maxRespectively dynamic window VrMaximum and minimum value.
Step 6: yawing angle needed for unmanned boat is reached collision prevention path point is compared with bow to window, if yawing
Angle is in bow into window, then unmanned boat is travelled by the angle；Conversely, then according to COLREGS rule, unmanned boat takes bow to window
The maximum or minimum bow of mouth is travelled to angle；
Step 7: judge whether unmanned boat reaches collision prevention path point；If unmanned boat reaches collision prevention path point, it is restored to rail
Mark tracing mode, conversely, then going to step 4 continues avoiding barrier；
Judgment rule is as follows: the distance for calculating unmanned boat to collision prevention path point shows that unmanned boat arrives if distance is less than 5m
Up to collision prevention path point, collision prevention terminates, and unmanned boat is switched to path trace mode, conversely, unmanned boat keeps collision prevention mode.
Fig. 6 is the collision prevention effect picture of single barrier overtaking situation, and figure a is to start collision prevention, and figure b is avoiding obstacles, schemes c
To start to restore navigation, figure d is to reach next path point.The initial coordinate of unmanned boat is (0,0), and the initial coordinate of barrier is
(100,0), the speed of barrier are 1m/s, and angle is 0 °, and next path point of path planning is (250,0).It is kept away when USV enters
Region is touched, the distance for being detected simultaneously by same blockship is gradually reduced, and according to SBG algorithm, USV is switched to collision prevention mode, avoids hindering
After hindering object, unmanned boat is restored navigation along the path of planning to next path point.
Fig. 7 is the collision prevention effect picture of single barrier head on situation, and figure a is to start collision prevention, and figure b is avoiding obstacles, schemes c
To start to restore navigation, figure d is to reach next path point.The initial coordinate of unmanned boat is (0,0), and the initial coordinate of barrier is
(180,0), the speed of barrier are 2m/s, and angle is 180 °.Next path point of path planning is (250,0).When USV enters
Collision prevention region, the distance for being detected simultaneously by same blockship are gradually reduced, and according to SBG algorithm, USV is switched to collision prevention mode, avoid
After barrier, unmanned boat is restored navigation along the path of planning to next path point.
Fig. 8 is the collision prevention effect picture that single barrier intersects situation, and figure a is to start collision prevention, and figure b is avoiding obstacles, schemes c
To start to restore navigation, figure d is to reach next path point.The initial coordinate of unmanned boat is (0,0), and the initial coordinate of barrier is
(220,0), the speed of barrier are 5m/s, and angle is 150 °.Next path point of path planning is (250,80).When USV into
Enter collision prevention region, the distance for being detected simultaneously by same blockship is gradually reduced, and according to SBG algorithm, USV is switched to collision prevention mode, keeps away
After opening barrier, unmanned boat is restored navigation along the path of planning to next path point.
Fig. 9 is the collision prevention effect picture of multiple barriers, and figure a is to start collision prevention, and figure b is to avoid first barrier, and figure c is
Second barrier is avoided, figure d is to reach next path point.The initial coordinate of unmanned boat is (0,0), two barriers it is initial
Coordinate is respectively (150,0) and (270,60), and the speed of barrier is respectively 5m/s and 1m/s, and angle is respectively 150 ° and 15 °.
Next path point of path planning is (450,100).In the case where encountering multi-obstacle avoidance, unmanned boat can first detect from itself compared with
Close barrier starts to evade this barrier, starts to restore navigation after evading if there is risk of collision.When detecting and the
When two barriers have risk of collision, start to evade second barrier.
Claims (5)
1. a kind of autonomous dynamic collision prevention method of unmanned boat constrained based on SBG and dynamic window, which is characterized in that comprising steps of
(1) velocity information and location information of unmanned boat and barrier are obtained, and judges that unmanned boat selects according to SBG switching method
Path trace mode or collision prevention mode；
(2) if unmanned boat collisionless is dangerous, path trace mode is selected, it is mobile towards target point；If desired avoiding barrier, then
Collision prevention mode is selected, and Meeting Situation is judged according to International Regulations for Preventing Collisions at Sea, and determine unmanned boat from which side cut-through
Object；
(3) by acquiring collision prevention path point as the method that tangent line obtains intersection point from unmanned boat and next path point to inner circle respectively,
And collision prevention path point is selected according to unmanned boat direction of circling；
(4) required yawing angle when seeking unmanned boat avoiding barrier by sight line guidance algorithm；
(5) according to the limitation of unmanned boat direction rudder and propeller, the dynamic window and bow for acquiring unmanned boat are to window；
(6) yawing angle needed for unmanned boat being reached collision prevention path point is compared with bow to window, if yawing angle is in bow
Into window, then unmanned boat is travelled by the angle；Conversely, then according to COLREGS rule, unmanned boat takes maximum of the bow to window
Or minimum bow is travelled to angle；
(7) judge whether unmanned boat reaches collision prevention path point.If unmanned boat reaches collision prevention path point, it is restored to track following mould
Formula, conversely, then going to step 4 continues avoiding barrier.
2. the unmanned boat autonomous dynamic collision prevention method according to claim 1 constrained based on SBG and dynamic window, feature
It is, in the step 1, the SBG switching method specifically: at a distance from unmanned boat with barrier within 100m, and with
When time change distance is gradually shortened, unmanned boat is from path trace pattern switching to collision prevention mode；Otherwise, unmanned boat keeps path
Tracing mode, with the fixed downward path point navigation of speed.
3. the unmanned boat autonomous dynamic collision prevention method according to claim 1 constrained based on SBG and dynamic window, feature
It is, in the step 2, the Meeting Situation includes overtaking situation, head on situation and intersection situation.
4. the unmanned boat autonomous dynamic collision prevention method according to claim 1 constrained based on SBG and dynamic window, feature
It is, circular in the step 5 are as follows: limited, calculated in time window T according to the angular acceleration of unmanned boatsInterior nothing
People's ship is from the attainable angular velocity range V of current angular velocityd；According to the rate limitation of unmanned boat, calculate in time window TsInterior nothing
People's ship is from the attainable angular velocity range V of current angular velocitys；Then the dynamic window of unmanned boat is the friendship of two angular speed windows
Collection；According to the dynamic window of unmanned boat, time window T is calculatedsInterior unmanned boat from current bow to the attainable bow in angle to angular region,
The referred to as bow of unmanned boat is to window.
5. the unmanned boat autonomous dynamic collision prevention method according to claim 1 constrained based on SBG and dynamic window, feature
It is, in the step 7, judges the method whether unmanned boat reaches collision prevention path point are as follows: calculates unmanned boat to collision prevention path point
Distance show that unmanned boat reaches collision prevention path point, collision prevention terminates, and unmanned boat is switched to path trace if distance is less than 5m
Mode, conversely, unmanned boat keeps collision prevention mode.
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