CN110083159B - Unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint - Google Patents

Unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint Download PDF

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CN110083159B
CN110083159B CN201910397708.8A CN201910397708A CN110083159B CN 110083159 B CN110083159 B CN 110083159B CN 201910397708 A CN201910397708 A CN 201910397708A CN 110083159 B CN110083159 B CN 110083159B
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陈天元
袁伟
俞孟蕻
齐亮
苏贞
陈红卫
李文娟
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Jiangsu University of Science and Technology
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Abstract

The invention discloses an unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint, which enables an unmanned ship to navigate along a pre-planned path and avoid obstacles at the same time, adopts an unmanned ship mode switching method based on an SBG algorithm, and enables the unmanned ship to switch between a path following mode and a collision avoidance mode when a certain condition is met so as to realize the combination of track tracking control and collision avoidance path planning; considering the maneuverability of the ship, a reactive collision avoidance method based on dynamic window constraint is designed, and the problem that a controller cannot reach a collision avoidance output state is effectively solved; meanwhile, by combining international maritime regulations, an unmanned ship collision avoidance path meeting the maritime regulations is designed, and the safety of the unmanned ship in collision avoidance is ensured.

Description

Unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint
Technical Field
The invention relates to an unmanned ship autonomous dynamic collision avoidance method, in particular to an unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint.
Background
The vast sea contains abundant biological resources and mineral resources, and with the rapid development of scientific technology, the sea will certainly become a main battlefield for resources contention of all countries. Compared with a conventional ship, an Unmanned Surface Vessel (USV) is an Unmanned and intelligent carrying platform which depends on remote control or an autonomous mode and sails on the water Surface, and has the characteristics of small volume, high speed and high intelligent degree. In the civil aspect, the unmanned ship can reduce the cost and improve the safety of ship navigation; in military terms, unmanned ships can be deployed in dangerous sea areas to perform tasks and are not suitable for tasks performed by ships or ships so as to guarantee personal safety.
Because the unmanned ship on the water surface has a complex operation environment and is influenced by dynamic and static barriers, the unmanned ship has certain danger avoiding capability, which is a prerequisite for ensuring the safe navigation of the unmanned ship and is a necessary condition for operating the unmanned ship. The unmanned ship collision avoidance planning comprises global path planning and local collision avoidance, wherein the global path planning plans a collision avoidance path from a starting point to a terminal point by a static method according to the information of a known sea area; the local collision avoidance obtains the position and the position of the ship and the distribution condition of the obstacles in the detection range according to the information of the ship-mounted sensor, so that a local collision-free path is planned in real time through a collision avoidance algorithm. Because a large number of obstacles which cannot be predicted in advance exist in a water area, the real-time sensor is used for avoiding local dangers, and the method has important research value and wide application prospect.
At present, the traditional local collision avoidance method rarely considers the constraint of ship maneuvering performance, and collision avoidance output which cannot be achieved by dynamics is easily generated under the high-speed condition; in addition, most of the existing methods do not consider international maritime regulations, and an algorithm is designed simply for avoiding obstacles, so that danger is easily caused in actual collision avoidance.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides an unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint, so that the unmanned ship can avoid obstacles while navigating along a flight path planned by a global path.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: an unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint comprises the following steps:
(1) acquiring speed information and position information of the unmanned ship and the barrier, and judging whether the unmanned ship selects a path tracking mode or a collision avoidance mode according to an SBG switching method;
(2) if the unmanned ship has no collision danger, selecting a path tracking mode and moving towards a target point; if the obstacle needs to be avoided, selecting a collision prevention mode, judging a meeting situation according to an international maritime collision prevention rule, and determining which side the unmanned ship bypasses the obstacle;
(3) obtaining collision-prevention path points by respectively drawing tangent lines from the unmanned ship and the next path point to an inner circle to obtain intersection points, and selecting the collision-prevention path points according to the bypassing direction of the unmanned ship;
(4) calculating a yaw angle required by the unmanned ship when the unmanned ship avoids the obstacle through an aiming line guidance algorithm;
(5) obtaining a dynamic window and a heading window of the unmanned ship according to the limitations of a rudder and a propeller of the unmanned ship;
(6) comparing a heading angle required by the unmanned ship to reach the collision avoidance path point with a heading window, and if the heading angle is in the heading window, driving the unmanned ship according to the angle; otherwise, according to COLREGS rules, the unmanned ship drives by adopting the maximum or minimum heading angle of the heading window;
(7) and judging whether the unmanned ship reaches the collision avoidance path point or not. And if the unmanned ship reaches the collision avoidance path point, the tracking mode is recovered, otherwise, the unmanned ship goes to the step 4 to continue to avoid the obstacle.
Further, in step 1, the SBG switching method specifically includes: when the distance between the unmanned ship and the obstacle is within 100m and gradually shortens along with the time change, the unmanned ship is switched to a collision avoidance mode from a path tracking mode; otherwise, the unmanned ship keeps a path tracking mode and sails to the next path point at a fixed speed.
Further, in step 2, the meeting situation includes a pursuing situation, an encounter situation, and a crossing situation.
Further, the specific calculation method in step 5 is as follows: calculating the time window T according to the angular acceleration limit of the unmanned shipsAngular velocity range V that the unmanned ship can reach from the current angular velocityd(ii) a Calculating the time window T according to the speed limit of the unmanned shipsAngular velocity range V that the unmanned ship can reach from the current angular velocitys(ii) a The dynamic window of the unmanned ship is the intersection of the two angular speed windows; calculating a time window T according to the dynamic window of the unmanned shipsHeading angle range which can be reached by unmanned ship from current heading angleAnd is called the heading window of the unmanned ship.
Further, in step 7, the method for determining whether the unmanned ship reaches the collision avoidance path point includes: and calculating the distance from the unmanned ship to the collision avoidance path point, if the distance is less than 5m, indicating that the unmanned ship reaches the collision avoidance path point, finishing collision avoidance, switching the unmanned ship to a path tracking mode, and otherwise, keeping the collision avoidance mode by the unmanned ship.
Has the advantages that: compared with the prior art, the invention has the outstanding advantages that:
(1) by adopting the method for switching modes of the unmanned ship based on the SBG algorithm, the unmanned ship can be switched between a path following mode and a collision avoidance mode, so that the unmanned ship can track the path navigation planned globally and avoid dynamic and static obstacles appearing on the navigation track;
(2) the invention takes the maneuverability of the ship into consideration, designs the reactive collision avoidance method based on the dynamic window constraint, and effectively solves the problem that the controller cannot reach the collision avoidance output state;
(3) the autonomous dynamic collision avoidance method is combined with the international maritime affair rule to determine the navigation direction of the unmanned ship under different meeting conditions, so that the safety of the unmanned ship in collision avoidance is ensured.
Drawings
FIG. 1 is a flow chart of an autonomous dynamic collision avoidance method for an unmanned ship based on SBG and dynamic window constraints;
FIG. 2 is a sectional view of the area around an obstacle;
FIG. 3 is a schematic view of the relative positions of the unmanned ship and the obstacle;
FIG. 4 is a chart of a maritime collision avoidance rule division;
FIG. 5 is a schematic view of collision avoidance waypoints of the unmanned ship;
FIG. 6 is a collision avoidance view of an unmanned ship under a single obstacle overtaking situation;
FIG. 7 is a diagram of collision avoidance of unmanned ship under a single obstacle encounter situation;
FIG. 8 is a diagram of unmanned ship collision avoidance under a single barrier intersection situation;
fig. 9 is a collision avoidance view of the unmanned ship in the case of multiple obstacles.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint according to the present invention includes the steps of:
the method comprises the following steps: acquiring speed information and position information of the unmanned ship and the obstacle, and judging whether the unmanned ship should track the track or avoid the obstacle according to an SBG switching method;
the SBG switching method comprises the following steps: when the distance between the unmanned ship and the obstacle is within 100m and gradually shortens along with the time change, the unmanned ship is switched to a collision avoidance mode from a path tracking mode; otherwise, the unmanned ship keeps a path tracking mode and sails to the next path point at a fixed speed.
As shown in fig. 2, the area around the obstacle may be divided into three parts: a safety area, a collision avoidance area and a forbidden area, wherein the radius of the collision avoidance area and the radius of the forbidden area are respectively RmAnd Ro。
By calculating the distance sigma between the center of the obstacle and the unmanned ship and comparing with RmIs compared, which mode is determined to be valid by the SBG switching method.
Calculating the relative distance between the unmanned ship and the obstacle according to the positions of the unmanned ship and the obstacle in the northeast coordinate system as follows:
Figure BDA0002058707310000031
wherein p (t) and po(t) the positions of the drone and the obstacle in the northeast coordinate system, respectively.
The valid value set C of task σ is:
C＝[σmin,σmax]＝[min(Rm,max(σ,Ro)),∞)
cutting cone T on the set of valid values CC(σ) is:
Figure BDA0002058707310000032
as shown in fig. 3, the valid value set C is a shaded portion in the figure.
When σ > RmWhen (left panel), C ═ RmInfinity), so σ ∈ (σ)min,σmax) The USV is always inside the tangent cone at this time, so the path tracking mode is valid.
When R iso≤σ≤RmWhen (middle diagram), C ═ σ, ∞), in which case σ ═ σminTherefore only when
Figure BDA0002058707310000033
When the USV is within the cutting cone, so when
Figure BDA0002058707310000041
When the path tracking mode is active, when
Figure BDA0002058707310000042
The collision avoidance mode is active.
When sigma < RoIn time (right diagram), the distance σ from the USV to the center of the obstacle is outside the effective value set C, which violates the objective of collision avoidance control.
Step two: if the unmanned ship has no collision danger, the unmanned ship moves towards a target point at a fixed speed and a fixed heading angle; if the barrier needs to be avoided, judging the meeting situation according to the international maritime collision avoidance rule, and determining which side the unmanned ship bypasses the barrier;
as shown in fig. 4, according to the collision avoidance rule, in the case where the unmanned ship and the obstacle ship are "visible to each other", the meeting places that may be encountered are classified into three types, i.e., a pursuing place, an opponent place, and a crossing place. By means of the relative azimuth angle beta, the meeting situations are defined in a distinguishing way:
(1) overtaking situation
If the USV is close to the obstacle in high-speed navigation and the relative azimuth angle with the obstacle satisfies beta epsilon [112.5 DEG and 247.5 DEG ], a overtaking situation is formed. In this case, the USV may pass through the obstacle ship from the left side or the right side.
(2) Situation of encounter
If the USV and the obstacle opposite azimuth angle satisfy beta ∈ [0 °,15 °) ∈ [345 °,360 °) and approach the dangerous distance, an encounter situation is formed. The USV should now turn towards its right chord, passing from the left side of the obstacle.
(3) Cross situation
If the orientation angle of the USV with respect to the obstacle satisfies β ∈ [15 °,112.5 °) ∈ [247.5 °,345 °), and approaches the dangerous distance, a crossing situation is formed. In this case, for the USV and the obstacle ship, when the ship with the other ship on the right chord is the way-giving ship, the ship should turn to the right chord and pass behind the other ship, and the other ship should keep the speed and the heading.
Step three: obtaining collision-prevention path points by respectively drawing tangent lines from the unmanned ship and the next path point to an inner circle to obtain intersection points, and selecting the collision-prevention path points according to the bypassing direction of the unmanned ship;
as shown in fig. 5, tangent lines are respectively made from the unmanned ship and the next path point to the inner circle, and the tangent points are obtained according to the similar triangle principle; then, respectively solving expressions of the tangent lines to obtain two intersection points of the tangent lines; and then determining which intersection point is a new collision avoidance path point according to the international maritime collision avoidance rule.
Step four: calculating a yaw angle required by the unmanned ship when the unmanned ship avoids the obstacle through an aiming line guidance algorithm;
step five: obtaining the dynamic window V of the unmanned ship according to the limits of the rudder and the propeller of the unmanned shiprAnd heading window thetar；
Calculating the time window T according to the angular acceleration limit of the unmanned shipsThe angular velocity range that the unmanned ship can reach from the current angular velocity is marked as Vd(ii) a Calculating the time window T according to the speed limit of the unmanned shipsThe angular velocity range that the unmanned ship can reach from the current angular velocity is marked as Vs(ii) a The dynamic window of the unmanned ship is the intersection of the two angular speed windows; calculating a time window T according to the dynamic window of the unmanned shipsThe range of the heading angle which can be reached by the unmanned ship from the current heading angle is called as the unmanned shipThe heading window of (1).
The rudder angle and angular velocity are limited as follows:
||δ||∞≤δmax
Figure BDA0002058707310000051
at time Ta(TaMuch smaller than the period T used by the DW algorithm to calculate the search spaces) Inner, rudder angle deltaψThe range of variation is:
Figure BDA0002058707310000058
thrust F in the surge directionX∈[FX,min,FX,max]The forces and moments acting on the vessel can be defined by tau (v, delta)ψ，FX) To indicate the acceleration
Figure BDA0002058707310000052
The range of (A) is as follows:
Figure BDA0002058707310000053
i∈{min,max}
τmin＝τ(ν*,max(δψ),min(FX))
τmax＝τ(ν*,min(δψ),max(FX))
due to the physical constraints of the ship engine, the acceleration of the unmanned ship is limited within a certain time. These constraints form a dynamic window in the angular velocity space, which consists of all the speeds that can be reached from the current speed of the vessel in a given time interval. This dynamic window is:
Figure BDA0002058707310000054
in the formula, r*In order to be the current angular velocity of the vessel,
Figure BDA0002058707310000055
at a time TsMinimum and maximum angular acceleration of the inner vessel, obtainable by acceleration
Figure BDA0002058707310000056
Thus obtaining the product.
Constrained by the rudder maximum yaw angle and propeller thrust, the speed of the unmanned ship is limited, defining a function g (r) that is semi-positive for feasible speeds and negative otherwise, i.e.:
Vs＝{r|g(r)≥0}
the function g (r) is derived by computing the steady state solution boundary of the vessel dynamics model, i.e.:
Figure BDA0002058707310000057
dynamic window V of unmanned shiprMay consist of the intersection of two windows of angular velocity, namely:
Vr＝Vs∩Vd
according to the formula, the heading period T of the unmanned ship can be obtainedsThe angle that can turn to inside, the heading window promptly is:
θr＝{θ|θ∈[θh+Vr,min·Ts,θh+Vr,max·Ts]}
in the formula, Vr，minAnd Vr，maxAre respectively dynamic windows VrMaximum and minimum values of.
Step six: comparing a heading angle required by the unmanned ship to reach the collision avoidance path point with a heading window, and if the heading angle is in the heading window, driving the unmanned ship according to the angle; otherwise, according to COLREGS rules, the unmanned ship drives by adopting the maximum or minimum heading angle of the heading window;
step seven: judging whether the unmanned ship reaches a collision avoidance path point or not; if the unmanned ship reaches the collision avoidance path point, the tracking mode is recovered, otherwise, the step four is carried out to continue to avoid the obstacle;
the judgment rule is as follows: and calculating the distance from the unmanned ship to the collision avoidance path point, if the distance is less than 5m, indicating that the unmanned ship reaches the collision avoidance path point, finishing collision avoidance, switching the unmanned ship to a path tracking mode, and otherwise, keeping the collision avoidance mode by the unmanned ship.
Fig. 6 is a diagram of the collision avoidance effect of a single obstacle overtaking situation, where a is the start of collision avoidance, b is the avoidance of the obstacle, c is the start of re-navigation, and d is the arrival at the next waypoint. The initial coordinates of the unmanned ship are (0,0), the initial coordinates of the obstacle are (100,0), the speed of the obstacle is 1m/s, the angle is 0 °, and the next path point of the path plan is (250, 0). When the USV enters a collision avoidance area, the USV detects that the distance between the USV and the obstacle ship is gradually reduced, the USV is switched to a collision avoidance mode according to an SBG algorithm, and after the obstacle is avoided, the unmanned ship is rewound to the next path point along the planned path.
Fig. 7 is a diagram of the collision avoidance effect of a single obstacle on a meeting situation, where a is the start of collision avoidance, b is the avoidance of the obstacle, c is the start of re-navigation, and d is the arrival of the next waypoint. The initial coordinate of the unmanned ship is (0,0), the initial coordinate of the obstacle is (180,0), the speed of the obstacle is 2m/s, and the angle is 180 °. The next path point of the path plan is (250, 0). When the USV enters a collision avoidance area, the USV detects that the distance between the USV and the obstacle ship is gradually reduced, the USV is switched to a collision avoidance mode according to an SBG algorithm, and after the obstacle is avoided, the unmanned ship is rewound to the next path point along the planned path.
Fig. 8 is a diagram of the collision avoidance effect of the intersection of the single obstacles, where a is the beginning of collision avoidance, b is the avoidance of the obstacles, c is the beginning of the return journey, and d is the arrival of the next waypoint. The initial coordinates of the unmanned ship are (0,0), the initial coordinates of the obstacle are (220,0), the speed of the obstacle is 5m/s, and the angle is 150 °. The next path point of the path plan is (250, 80). When the USV enters a collision avoidance area, the USV detects that the distance between the USV and the obstacle ship is gradually reduced, the USV is switched to a collision avoidance mode according to an SBG algorithm, and after the obstacle is avoided, the unmanned ship is rewound to the next path point along the planned path.
Fig. 9 is a diagram of collision avoidance effect of a plurality of obstacles, where a is a diagram of collision avoidance starting, b is a diagram of avoidance of a first obstacle, c is a diagram of avoidance of a second obstacle, and d is a diagram of arrival at a next waypoint. The initial coordinates of the unmanned ship are (0,0), the initial coordinates of the two obstacles are (150,0) and (270,60), the speed of the obstacle is 5m/s and 1m/s, and the angle is 150 ° and 15 °, respectively. The next path point of the path plan is (450,100). When multiple obstacles are encountered, the unmanned ship can detect the obstacle close to the unmanned ship, if collision danger exists, the unmanned ship starts to avoid the obstacle, and after the avoidance is finished, the unmanned ship starts to resume. And when the collision danger with the second obstacle is detected, the second obstacle is avoided.

Claims (5)

1. An unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraint defines SBG as set guidance, and is characterized by comprising the following steps:
(1) acquiring speed information and position information of the unmanned ship and the barrier, and judging whether the unmanned ship selects a path tracking mode or a collision avoidance mode according to an SBG switching method;
(2) if the unmanned ship has no collision danger, selecting a path tracking mode and moving towards a target point; if the obstacle needs to be avoided, selecting a collision prevention mode, judging a meeting situation according to an international maritime collision prevention rule, and determining which side the unmanned ship bypasses the obstacle;
(3) establishing an inner circle with the center of the barrier as the center of a circle by taking the radius of the forbidden area of the barrier as a reference radius, obtaining collision-avoiding path points by respectively taking tangents from the unmanned ship and the next path point to the inner circle to obtain an intersection point, and selecting the collision-avoiding path points according to the bypassing direction of the unmanned ship;
(4) calculating a yaw angle required by the unmanned ship when the unmanned ship avoids the obstacle through an aiming line guidance algorithm;
(5) obtaining a dynamic window of the unmanned ship according to the limitations of a rudder and a propeller of the unmanned ship, and obtaining a heading window based on the dynamic window;
(6) comparing a heading angle required by the unmanned ship to reach the collision avoidance path point with a heading window, and if the heading angle is in the heading window, driving the unmanned ship according to the angle; otherwise, according to COLREGS rules, the unmanned ship drives by adopting the maximum or minimum heading angle of the heading window;
(7) and (4) judging whether the unmanned ship reaches the collision avoidance path point, if the unmanned ship reaches the collision avoidance path point, recovering to a track tracking mode, otherwise, turning to the step 4 to continue to avoid the obstacle.
2. The unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraints as claimed in claim 1, wherein in step 1, the SBG switching method specifically comprises: when the distance between the unmanned ship and the obstacle is within 100m and gradually shortens along with the time change, the unmanned ship is switched to a collision avoidance mode from a path tracking mode; otherwise, the unmanned ship keeps a path tracking mode and sails to the next path point at a fixed speed.
3. The unmanned ship autonomous dynamic collision avoidance method based on SBG and dynamic window constraints as recited in claim 1, wherein in said step 2, said meeting situation includes a pursuit situation, an opponent situation and a cross situation.
4. The SBG and dynamic window constraint-based unmanned ship autonomous dynamic collision avoidance method according to claim 1, wherein the specific calculation method in step 5 is: calculating an angular velocity range Vd which can be reached by the unmanned ship from the current angular velocity in a time window Ts according to rudder limitation of the unmanned ship; calculating an angular velocity range Vs which can be reached by the unmanned ship from the current angular velocity in a time window Ts according to the propeller limit of the unmanned ship; the dynamic window of the unmanned ship is the intersection of the two angular speed windows; and calculating the range of the heading angle which can be reached by the unmanned ship from the current heading angle in the time window Ts according to the dynamic window of the unmanned ship, wherein the range is called the heading window of the unmanned ship.
5. The autonomous dynamic collision avoidance method of the unmanned ship based on SBG and dynamic window constraints according to claim 1, wherein in step 7, the method for determining whether the unmanned ship reaches the collision avoidance waypoint comprises: and calculating the distance from the unmanned ship to the collision avoidance path point, if the distance is less than 5m, indicating that the unmanned ship reaches the collision avoidance path point, finishing collision avoidance, switching the unmanned ship to a path tracking mode, and otherwise, keeping the collision avoidance mode by the unmanned ship.
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Set-Based Line-of-Sight (LOS) Path Following with Collision Avoidance for Underactuated Unmanned Surface Vessels under the Influence of Ocean Currents;Signe Moe，et al.;《2017 IEEE Conference on Control Technology and Applications (CCTA)》;20170830;第241-248页 *

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