CN110362080A - Method for optimizing route, device and the computer readable storage medium of differential unmanned boat - Google Patents
Method for optimizing route, device and the computer readable storage medium of differential unmanned boat Download PDFInfo
- Publication number
- CN110362080A CN110362080A CN201910633101.5A CN201910633101A CN110362080A CN 110362080 A CN110362080 A CN 110362080A CN 201910633101 A CN201910633101 A CN 201910633101A CN 110362080 A CN110362080 A CN 110362080A
- Authority
- CN
- China
- Prior art keywords
- path
- speed
- point
- unmanned boat
- differential
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of method for optimizing route of differential unmanned boat, device and computer readable storage medium, the angle difference between every adjacent two path segments on initial path is acquired first, then corresponding operation is successively executed since the first path point on initial path, so that when the angle difference between two adjacent path segments is more than preset difference value, the first insertion point can be inserted into the setting position of previous path segments when the length of previous path segments is greater than preset length value, the second insertion point is inserted into the setting position of latter path segment when the length of latter path segment is greater than preset length value, and first the speed of insertion point and the second insertion point take the speed of the path point or take maximum limitation speed when the speed of the path point is beyond maximum limitation speed；Consequently facilitating optimization is suitble to the path of differential unmanned boat turning.
Description
Technical field
The present invention relates to path optimization's technical field more particularly to a kind of method for optimizing route, the devices of differential unmanned boat
And computer readable storage medium.
Background technique
Currently, industrial unmanned vehicle can be moved according to the path of systems organization, work in industrial unmanned vehicle technology field
Industry unmanned vehicle walks broken line in turning.But, when being applied to differential unmanned boat, since differential unmanned boat can not be walked in turning
Broken line can only walk curve, so that can not be suitable for differential unmanned boat by the similar path for industrial unmanned vehicle planning.
Although optimization of profile can be carried out to the path, but the curve at some turnings after optimizing will appear not smooth enough feelings
Condition does not ensure that unmanned boat can smoothly be passed through by the turning, especially in the case where the fast speed at turning.
Therefore, a kind of method for optimizing route of differential unmanned boat must be provided by having, and be suitble to differential unmanned boat convenient for optimization
The path of turning.
Summary of the invention
The purpose of the present invention is to provide a kind of method for optimizing route of differential unmanned boat, device and computer-readable storages
Medium, the path for being suitble to differential unmanned boat to turn convenient for optimization.
To achieve the above object, the present invention provides a kind of method for optimizing route of differential unmanned boat, which is characterized in that including
Following steps:
A. the angle difference between every adjacent two path segments on the initial path of generation is acquired；
B. the first path point on the initial path is performed the following operations:
If the angle difference between first path segment and the second path segments on the initial path is default poor
Value is hereinafter, then follow the steps c；
If angle difference between the first path segment and second path segments the preset difference value with
On, and if the length of the first path segment is greater than preset length value, in the first path segment described in distance
The first insertion point is inserted into the position of first path point preset length value, wherein the preset length value is not less than the physics of unmanned boat
Minimum turning radius, if the speed of first path point is greater than preset maximum limitation speed, first insertion point
Speed take the maximum limitation speed, otherwise, the speed of first insertion point takes the speed of the first path point；If
The length of second path segments is greater than the preset length value, then the first path point described in distance on second path segments
The second insertion point is inserted into the position of preset length value；If the speed of the first path point is greater than the maximum limitation speed,
Then the speed of second insertion point takes the maximum limitation speed, and otherwise, the speed of second insertion point takes described first
The speed of path point；
C. the operation of step b is executed to the second path point on the initial path.
Preferably, step b further include:
If the speed of the first path point is greater than the length of the maximum limitation speed and the first path segment
When greater than minimum set distance, then the minimum set distance described in first path point described in distance in the first path segment
Third insertion point is inserted into position, and the speed of the third insertion point takes the maximum limitation speed, wherein the minimum setting away from
Setting value from generation when being more than corresponding threshold speed for the speed of the path point, the minimum set distance are greater than institute
Preset length value is stated, the threshold speed is no more than the maximum limitation speed.
Preferably, step b further include:
If the speed of the first path point is greater than threshold speed, and second path segments are greater than pre-determined distance
When, then the 4th insertion point is inserted into the position of pre-determined distance described in first path point described in distance on second path segments,
The speed of 4th insertion point takes the maximum limitation speed, wherein the pre-determined distance is greater than the preset length value.
Preferably, when the angle difference between the first path segment and second path segments is in the default difference
More than value, at least two angular ranges are divided into, the angular range comprising greater angle value is correspondingly arranged bigger
The maximum limitation speed.
Preferably, further include on the threshold speed at least one apart from switching threshold according to the path point
Friction speed section generate the different minimum set distances.
Preferably, after the corresponding path point on the initial path successively executes the step the operation of b, it is first to completing
The preliminary path optimizing of step optimization carries out optimization of profile to obtain the track for meeting unmanned boat turning performance.
Preferably, described " carrying out optimization of profile " specifically: successively by all path points on the preliminary path optimizing
It substitutes into quadravalence Bezier and carries out optimization of profile.
Preferably, the preset length value is equal to the physics minimum turning radius value of unmanned boat.
To achieve the above object, the present invention also provides a kind of Path Optimize Installations of differential unmanned boat, comprising:
One or more memories；
One or more processors；And
It is stored in the computer program that can be run on the memory and on the processor, which is characterized in that described
When processor executes the computer program, the method for optimizing route of differential unmanned boat as described above is realized.
To achieve the above object, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer journey
Sequence, which is characterized in that when the computer program is executed by processor, realize the path optimization of differential unmanned boat as described above
Method.
Compared with prior art, the present invention optimize the preliminary path optimizing to be formed can after subsequent progress optimization of profile,
It can guarantee that the radius of the camber line at each turning is at least more than nothing when corresponding angle difference is more than certain value first
People's ship physics minimum turning radius, and then ensure in the case where speed is not cracking situation, unmanned boat can go on smoothly turning；And
And by being maximum limitation speed by the rate limitation of insertion point, the smooth turning degree of unmanned boat is further promoted.
Detailed description of the invention
Fig. 1 is the schematic diagram of the Partial Fragment of the initial path in the embodiment of the present invention.
Fig. 2 is the schematic diagram of the Partial Fragment of the preliminary path optimizing in the embodiment of the present invention.
Fig. 3 is the flow chart of the method for optimizing route of differential of embodiment of the present invention unmanned boat.
Fig. 4 is the schematic block diagram of the Path Optimize Installation of differential of embodiment of the present invention unmanned boat.
Specific embodiment
For the technology contents that the present invention will be described in detail, construction feature, below in conjunction with embodiment and cooperate attached drawing make into
One step explanation.
Embodiment one
It please refers to Fig.1 to Fig.3, the invention discloses a kind of method for optimizing route of differential unmanned boat, include the following steps:
A. the angle difference between every adjacent two path segments on the initial path of generation is acquired；
B. the first path point B on initial path is performed the following operations:
If the angle difference DELTA δ ab between first path segment AB and the second path segments BC on initial path is pre-
If difference is hereinafter, then follow the steps c；Specifically, first path segment AB is between the 0th path point A and first path point B
Straightway, straightway of the second path segments BC between first path point B and the second path point C；
If the angle difference DELTA δ ab between first path segment AB and the second path segments BC more than preset difference value,
And if the length of first path segment AB is greater than preset length value L, apart from first path point B on first path segment AB
The first insertion point b is inserted into the position of preset length value L, wherein physics minimum turning half of the preset length value L not less than unmanned boat
Diameter R, if the speed Sb of first path point B is greater than preset maximum limitation speed Smax, the speed of the first insertion point b is taken most
Big limitation speed Smax, otherwise, the speed of the first insertion point b takes the speed Sb of first path point B；If the second path segments BC
Length be greater than preset length value L, then the position on the second path segments BC apart from first path point B preset length value L insert
Enter the second insertion point c；If the speed Sb of first path point B is greater than maximum limitation speed Smax, the speed of the second insertion point c
Maximum limitation speed Smax is taken, otherwise, the speed of the second insertion point c takes the speed Sb of first path point B；
C. the operation of step b is executed to the second path point C on initial path；That is:
If the angle difference between third path segments (not shown) and the second path segments BC in preset difference value hereinafter,
Then follow the steps c (operation of step b is executed to the third path point on initial path)；
If the angle difference between third path segments and the second path segments BC is more than preset difference value, and if
The length of two path segments BC is greater than preset length value L, then the second path point of distance C preset length value on the second path segments
The first insertion point is inserted into the position of L, and wherein preset length value L is not less than the physics minimum turning radius R of unmanned boat；If second
The speed of path point C is greater than preset maximum limitation speed Smax, then the speed of the first insertion point takes maximum limitation speed Smax,
Otherwise, the speed of the first insertion point takes the speed of the second path point C；If the length of third path segments is greater than preset length value
L, then the second insertion point is inserted into the position of the second path point of distance C preset length value L on third path segments；If the second tunnel
The speed of diameter point C is greater than maximum limitation speed Smax, then the speed of the second insertion point takes maximum limitation speed Smax, otherwise, the
The speed of two insertion points takes the speed of the second path point C.
In the manner described above, successively on initial path thirdly, the 4th point ... N point carry out corresponding operation,
To complete the preliminary optimization to initial path.
By aforesaid operations, so that can guarantee first after subsequent progress optimization of profile when corresponding angle difference is super
When crossing certain value, the radius of the camber line at each turning ensures at least more than unmanned boat physics minimum turning radius R
In the case where speed is not cracking situation, unmanned boat can go on smoothly turning；Moreover, by being most by the rate limitation of insertion point
Big limitation speed Smax, further promotes the smooth turning degree of unmanned boat.
As preferred embodiment, preset length value L is equal to the physics minimum turning radius R value of unmanned boat；By this
Design, can either guarantee that the radius of the camber line at each turning is both greater than unmanned boat physics minimum turning radius R, will not incite somebody to action
The camber line at each turning is (needing beyond turning) too long for gap.Certainly, preset length value L can also suitably exceed unmanned boat
Physics minimum turning radius R value further enhance the reliability of turning so that there are surpluses.Alternatively, preset length value L exceeds
How much the physics minimum turning radius R value of unmanned boat can also consider speed factor simultaneously, that is to say, that even super in speed
Out in the case where maximum limitation speed Smax, the setting of preset length value L still is able to guarantee the smooth of turning.
As preferred embodiment, step b further include:
If the speed Sb of first path point B is greater than maximum limitation speed Smax and the length of first path segment AB is greater than
When minimum set distance Dmin, then the position on first path segment AB apart from first path point B minimum set distance Dmin
It is inserted into third insertion point d, the speed of third insertion point d takes maximum limitation speed Smax, wherein minimum set distance Dmin is road
The setting value of generation when the speed of diameter point is more than corresponding threshold speed, minimum set distance Dmin are greater than preset length value L,
Threshold speed is no more than maximum limitation speed Smax.It is big in the radius for the camber line for guaranteeing each turning by the operation
It, can in the case where unmanned boat physics minimum turning radius R while being very big (can guarantee speed not, turning is gone on smoothly)
Turning is set to become more smooth, the turning being effectively ensured in the larger situation of speed is gone on smoothly, while increasing insertion point
Also be more conducive to the generation of curve when subsequent optimization.
As preferred embodiment, step b further include:
If the speed Sb of first path point B (can automatically generate minimum setting when being greater than threshold speed according to setting at this time
Distance Dmin), and the length of the second path segments BC be greater than pre-determined distance when, then apart from the first via on the second path segments BC
The 4th insertion point e is inserted into the position of diameter point B pre-determined distance, and the speed of the 4th insertion point e takes maximum limitation speed Smax, wherein in advance
If distance is greater than preset length value L.It, can be further by corresponding turning in the case where speed angle by the design
Camber line elongates, and keeps corresponding curve more smooth, further ensures going on smoothly for turning.
In a specific embodiment, the physics minimum turning radius R0.5m of preset length value L value unmanned boat is preset
It is 1m apart from value.
As preferred embodiment, as the angle difference DELTA δ between first path segment AB and the second path segments BC
When ab is more than preset difference value, at least two angular ranges are divided into, the angular range correspondence comprising greater angle value is set
Set bigger maximum limitation speed Smax.
In a specific embodiment, angle difference DELTA δ ab executes the second path point C corresponding at 15 degree or less
Operation；Angle difference DELTA δ ab executes corresponding insertion point operation at 15 degree or more.Angle difference DELTA δ ab 15 degree with 30 degree it
Between when first path point B speed Sb value be 2m/s, the speed of angle difference DELTA δ ab first path point B at 30 degree or more
Sb value is 1m/s.
As preferred embodiment, further include at least one on the threshold speed apart from switching threshold according to road
The friction speed section of diameter point generates different minimum set distance Dmin.
In a specific embodiment, minimum set distance Dmin takes when the speed Sb of first path point B is greater than 1m/s
Value is 2m, and when the speed Sb of first path point B is greater than 2m/s, value is 4m, is greater than 4m/s in the speed Sb of first path point B
When value be 6m.
As preferred embodiment, after the corresponding path point on initial path successively executes the step the operation of b,
Optimization of profile is carried out to obtain the track for meeting unmanned boat turning performance to the preliminary path optimizing that completion tentatively optimizes.
In a specific embodiment, " optimization of profile is carried out " specifically: by all path points on preliminary path optimizing
It successively substitutes into quadravalence Bezier and carries out optimization of profile.
The mode of specific optimization of profile is well known to those skilled in the art, and does not make expansion description herein.
Embodiment two
Fig. 4 is please referred to, the present invention also provides a kind of Path Optimize Installations of differential unmanned boat, comprising: one or more
A memory 30, one or more processors 40 and it is stored in the computer that can be run on memory 30 and on processor 40
Program realizes the method for optimizing route of differential unmanned boat as described above when processor 40 executes computer program.
Embodiment three
The invention discloses a kind of computer readable storage mediums, are stored thereon with computer program, computer program quilt
When processor 40 executes, the method for optimizing route of differential unmanned boat as described above is realized.
The above are method for optimizing route, device and the computer-readable storage mediums to differential unmanned boat provided by the present invention
The description of matter, for those of ordinary skill in the art, thought according to an embodiment of the present invention, in specific embodiment and application
There will be changes in range, and to sum up, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of method for optimizing route of differential unmanned boat, which comprises the steps of:
A. the angle difference between every adjacent two path segments on the initial path of generation is acquired；
B. the first path point on the initial path is performed the following operations:
If the angle difference between first path segment and the second path segments on the initial path preset difference value with
Under, then follow the steps c；
If the angle difference between the first path segment and second path segments more than the preset difference value, and
If the length of the first path segment is greater than preset length value, the first via described in distance in the first path segment
The first insertion point is inserted into the position of diameter point preset length value, wherein the preset length value turns not less than the physics minimum of unmanned boat
Curved radius, if the speed of first path point is greater than preset maximum limitation speed, the speed of first insertion point
The maximum limitation speed is taken, otherwise, the speed of first insertion point takes the speed of the first path point；If the second tunnel
The length of diameter segment is greater than the preset length value, then the default length of first path point described in distance on second path segments
The second insertion point is inserted into the position of angle value；If the speed of the first path point is greater than the maximum limitation speed, described
The speed of second insertion point takes the maximum limitation speed, and otherwise, the speed of second insertion point takes the first path point
Speed；
C. the operation of step b is executed to the second path point on the initial path.
2. the method for optimizing route of differential unmanned boat as described in claim 1, which is characterized in that step b further include:
If the speed of the first path point is greater than the maximum limitation speed and the length of the first path segment is greater than
When minimum set distance, then in the first path segment minimum set distance described in first path point described in distance position
It is inserted into third insertion point, the speed of the third insertion point takes the maximum limitation speed, wherein the minimum set distance is
The setting value of generation when the speed of the path point is more than corresponding threshold speed, the minimum set distance are greater than described pre-
If length value, the threshold speed is no more than the maximum limitation speed.
3. the method for optimizing route of differential unmanned boat as claimed in claim 2, which is characterized in that step b further include:
If the speed of the first path point is greater than threshold speed, and the length of second path segments be greater than it is default away from
From when, then on second path segments pre-determined distance described in first path point described in distance position insertion the 4th insertion
Point, the speed of the 4th insertion point takes the maximum limitation speed, wherein the pre-determined distance is greater than the preset length value.
4. the method for optimizing route of differential unmanned boat as claimed in claim 1 or 2, which is characterized in that when the first path
Angle difference between segment and second path segments is divided at least two angles more than the preset difference value
Range, the angular range comprising greater angle value are correspondingly arranged the bigger maximum limitation speed.
5. the method for optimizing route of differential unmanned boat as claimed in claim 2, which is characterized in that further include being located at the speed
At least one on threshold value generates the different minimums with the friction speed section according to the path point apart from switching threshold
Set distance.
6. the method for optimizing route of differential unmanned boat as described in claim 1, which is characterized in that
After the corresponding path point on the initial path successively executes the step the operation of b, completion is tentatively optimized first
It walks path optimizing and carries out optimization of profile to obtain the track for meeting unmanned boat turning performance.
7. the method for optimizing route of differential unmanned boat as claimed in claim 6, which is characterized in that described " carrying out optimization of profile "
Specifically:
All path points on the preliminary path optimizing are successively substituted into quadravalence Bezier and carry out optimization of profile.
8. the method for optimizing route of differential unmanned boat as described in claim 1, which is characterized in that the preset length value is equal to
The physics minimum turning radius value of unmanned boat.
9. a kind of Path Optimize Installation of differential unmanned boat characterized by comprising
One or more memories；
One or more processors；And
It is stored in the computer program that can be run on the memory and on the processor, which is characterized in that the processing
When device executes the computer program, the path optimization of differential unmanned boat according to any one of claims 1 to 8 is realized
Method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
When being executed by processor, the method for optimizing route of differential unmanned boat according to any one of claims 1 to 8 is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633101.5A CN110362080B (en) | 2019-07-12 | 2019-07-12 | Path optimization method and device for differential unmanned ship and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910633101.5A CN110362080B (en) | 2019-07-12 | 2019-07-12 | Path optimization method and device for differential unmanned ship and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110362080A true CN110362080A (en) | 2019-10-22 |
| CN110362080B CN110362080B (en) | 2022-08-09 |
Family
ID=68219318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910633101.5A Active CN110362080B (en) | 2019-07-12 | 2019-07-12 | Path optimization method and device for differential unmanned ship and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110362080B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496798A (en) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | Robot conveyor belt tracking method, equipment and storage device |
| CN112405537A (en) * | 2020-11-11 | 2021-02-26 | 配天机器人技术有限公司 | Robot space track interpolation method and robot |
| US10940917B2 (en) | 2016-09-12 | 2021-03-09 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| US10946939B1 (en) | 2020-04-22 | 2021-03-16 | Kai Concepts, LLC | Watercraft having a waterproof container and a waterproof electrical connector |
| CN113534794A (en) * | 2021-06-28 | 2021-10-22 | 江苏云洲智能科技有限公司 | Ship path planning method, terminal device and computer readable storage medium |
| US11485457B1 (en) | 2021-06-14 | 2022-11-01 | Kai Concepts, LLC | Hydrojet propulsion system |
| US11878775B2 (en) | 2021-07-13 | 2024-01-23 | Kai Concepts, LLC | Leash system and methods of use |
| US11897583B2 (en) | 2020-04-22 | 2024-02-13 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propulsion system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2827212A1 (en) * | 2013-07-15 | 2015-01-21 | BAE Systems PLC | Path planning |
| CN104483975A (en) * | 2014-11-05 | 2015-04-01 | 哈尔滨工程大学 | UUV turning speed adaptive adjusting method based on route points |
| CN106959663A (en) * | 2016-01-11 | 2017-07-18 | 上海铼钠克数控科技股份有限公司 | The paths planning method and device of angle motion |
| CN109311482A (en) * | 2016-05-19 | 2019-02-05 | Zf 腓德烈斯哈芬股份公司 | Method for determining the safe speed at Future Path point |
| KR101937443B1 (en) * | 2018-06-21 | 2019-04-09 | 한화시스템 주식회사 | Method of controlling/operating of alternative route generation and rudder angle control support system for collision avoidance of autonomous ship and the other ships |
| CN209000208U (en) * | 2018-11-14 | 2019-06-18 | 深圳市哈威飞行科技有限公司 | Remote controler |
| EP3498574A1 (en) * | 2017-12-15 | 2019-06-19 | Wipro Limited | Method and system for guiding an autonomous vehicle in a forward path in real-time |
| CN109945888A (en) * | 2019-03-11 | 2019-06-28 | 百度在线网络技术（北京）有限公司 | Generation method, device and the computer equipment of navigation guide line |
| CN109976355A (en) * | 2019-04-26 | 2019-07-05 | 腾讯科技（深圳）有限公司 | Method for planning track, system, equipment and storage medium |
-
2019
- 2019-07-12 CN CN201910633101.5A patent/CN110362080B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2827212A1 (en) * | 2013-07-15 | 2015-01-21 | BAE Systems PLC | Path planning |
| CN104483975A (en) * | 2014-11-05 | 2015-04-01 | 哈尔滨工程大学 | UUV turning speed adaptive adjusting method based on route points |
| CN106959663A (en) * | 2016-01-11 | 2017-07-18 | 上海铼钠克数控科技股份有限公司 | The paths planning method and device of angle motion |
| CN109311482A (en) * | 2016-05-19 | 2019-02-05 | Zf 腓德烈斯哈芬股份公司 | Method for determining the safe speed at Future Path point |
| EP3498574A1 (en) * | 2017-12-15 | 2019-06-19 | Wipro Limited | Method and system for guiding an autonomous vehicle in a forward path in real-time |
| KR101937443B1 (en) * | 2018-06-21 | 2019-04-09 | 한화시스템 주식회사 | Method of controlling/operating of alternative route generation and rudder angle control support system for collision avoidance of autonomous ship and the other ships |
| CN209000208U (en) * | 2018-11-14 | 2019-06-18 | 深圳市哈威飞行科技有限公司 | Remote controler |
| CN109945888A (en) * | 2019-03-11 | 2019-06-28 | 百度在线网络技术（北京）有限公司 | Generation method, device and the computer equipment of navigation guide line |
| CN109976355A (en) * | 2019-04-26 | 2019-07-05 | 腾讯科技（深圳）有限公司 | Method for planning track, system, equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 魏爽 等: "基于GNSS的农机自动导航路径搜索及转向控制", 《农业工程学报》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11479324B2 (en) | 2016-09-12 | 2022-10-25 | Kai Concepts, LLP | Watercraft device with hydrofoil and electric propeller system |
| US11919608B2 (en) | 2016-09-12 | 2024-03-05 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| US10940917B2 (en) | 2016-09-12 | 2021-03-09 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| US11801919B2 (en) | 2020-04-22 | 2023-10-31 | Kai Concepts, LLC | Waterproof container having a waterproof electrical connector |
| US11091232B1 (en) | 2020-04-22 | 2021-08-17 | Kai Concepts, LLC | Watercraft having a waterproof container and a waterproof electrical connector |
| US10946939B1 (en) | 2020-04-22 | 2021-03-16 | Kai Concepts, LLC | Watercraft having a waterproof container and a waterproof electrical connector |
| US11897583B2 (en) | 2020-04-22 | 2024-02-13 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propulsion system |
| CN111496798A (en) * | 2020-05-18 | 2020-08-07 | 北京配天技术有限公司 | Robot conveyor belt tracking method, equipment and storage device |
| CN112405537B (en) * | 2020-11-11 | 2022-07-12 | 配天机器人技术有限公司 | Robot space track interpolation method and robot |
| CN112405537A (en) * | 2020-11-11 | 2021-02-26 | 配天机器人技术有限公司 | Robot space track interpolation method and robot |
| US11485457B1 (en) | 2021-06-14 | 2022-11-01 | Kai Concepts, LLC | Hydrojet propulsion system |
| CN113534794A (en) * | 2021-06-28 | 2021-10-22 | 江苏云洲智能科技有限公司 | Ship path planning method, terminal device and computer readable storage medium |
| US11878775B2 (en) | 2021-07-13 | 2024-01-23 | Kai Concepts, LLC | Leash system and methods of use |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110362080B (en) | 2022-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110362080A (en) | Method for optimizing route, device and the computer readable storage medium of differential unmanned boat | |
| US11623659B2 (en) | Method for controlling autonomous vehicle to pass through curve, electronic device and medium | |
| CN107615194B (en) | Method for smoothly switching machining track and machining device | |
| CN108052102B (en) | Robot travel route determining method and device and robot | |
| CN108829045B (en) | Optimization method and system for connection speed of continuous micro-linear segment | |
| CN113799797B (en) | Trajectory planning method and device, storage medium and electronic equipment | |
| CN110595475A (en) | Tracking path fitting method and device, intelligent automobile and storage medium | |
| WO2022252869A1 (en) | Obstacle bypassing method for mobile device, and mobile device and storage medium | |
| CN112197778A (en) | Wheeled airport border-patrol robot path planning method based on improved A-x algorithm | |
| CN109794943B (en) | Corner transition path and determination method | |
| CN110109467B (en) | Method and device for controlling turning path of robot, storage medium, and robot | |
| CN113031621B (en) | Bridge crane safety obstacle avoidance path planning method and system | |
| JP7312728B2 (en) | Method, device, device and storage medium for controlling vehicle | |
| Yang et al. | AGV path planning based on smoothing A* algorithm | |
| US9645568B2 (en) | Numerical controller having command path compression function | |
| CN111192216B (en) | Lane line smoothing method and system | |
| CN115973194A (en) | Intelligent vehicle control method, device, equipment and medium | |
| CN107966953B (en) | Method for processing turn-back line segment in numerical control machining track | |
| CN110069066B (en) | Unmanned vehicle tracking method and terminal | |
| CN107272685B (en) | Method and system for controlling turning of robot | |
| CN114103957B (en) | Lane change control method, apparatus, electronic device and storage medium | |
| CN112987740B (en) | Mobile robot path planning control method | |
| CN112363504B (en) | Unmanned turning method for agricultural machinery | |
| Artuñedo et al. | A comparison of local path-planning interpolation methods for autonomous driving in urban environments | |
| CN116203974B (en) | Method and device for controlling mobile robot to be in butt joint with equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |