CN110398249B - Path planning method for automatic cruise by combining environmental characteristics - Google Patents
Path planning method for automatic cruise by combining environmental characteristics Download PDFInfo
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Abstract
The invention discloses a path planning method for automatic cruising in combination with environmental characteristics, which comprises the steps of collecting water surface channel information through a geographic information system to generate a preliminary planned path; collecting environmental characteristic data along the preliminarily planned path and marking, such as whether barriers such as shoals, vortexes, reefs, water plants and the like exist on the path or not, and positions and occupied area sizes of the barriers; then, correcting the preliminarily planned path by using the collected environmental characteristic data to obtain a pilot path; and (3) the automatic driving ship tests the actual water surface according to the test-voyage path, further correcting the test-voyage path in the process, and recording the corrected track as a final cruising path for the automatic driving ship to use. And continuously and periodically collecting and marking the environmental characteristic data on the cruise path in the daily running process, and continuously compensating and correcting the cruise path if the environmental characteristic changes and interferes with the existing cruise path, so that the whole process forms a closed loop.
Description
Technical Field
The invention relates to the field of cruise path planning of a water surface automatic driving ship, in particular to a path planning method for automatic cruise by combining environmental characteristics.
Background
The automatic driving path gauge is divided into a dynamic mode and a static mode, wherein the dynamic mode refers to detecting the field environment in real time by adopting various sensor technologies and calculating on line to obtain the motion track; the static mode means that the motion track is calculated off-line by various means in advance before the actual operation. The invention relates to a path planning method, which belongs to a static mode.
At present, the application of the automatic driving technology in the hydrological environment is gradually widened, and accordingly, a route planning method for the automatic driving ship is increasingly regarded as one of the core technologies of the automatic driving.
Path planning in a hydrological environment is complex, and the following problems mainly exist:
firstly, due to the complexity of the hydrological environment and the immaturity of the sensing technology and the identification technology, the track is generated on site in a completely dynamic mode, and the problems of poor path generation, insufficient sensitivity in response and the like exist, so that the application still tends to adopt an electronic map which utilizes a geographic information system in advance to plan the path in an off-line mode in advance, a relatively satisfactory path is generated in advance, and the efficiency of success of the first trial operation is improved.
Secondly, planning a path based on geographic information is not enough for water surface navigation, and the hydrologic environment conditions are more complex than the land road surface environment, for example, some barriers which influence the navigation of the ship, such as shoals, reefs, water vortexes and the like which are not labeled in detail in the current geographic information system, exist on a preset route, so that the path needs to be corrected in advance on the basis of a track obtained according to the geographic information by combining with environmental characteristics.
Thirdly, also due to the complexity of the water surface environment and the precision problem of the geographic information and the environmental factor marking, in order to ensure the safety of the voyage, a trial run needs to be performed on the spot based on the planned route before the first formal automatic cruise, and the correction needs to be performed again in an automatic mode (including proper manual intervention if necessary) in the trial run process. Because the preset corrected planning path under the consideration of the environmental influence exists, the correction is relatively easy in field correction and the correction amount is much smaller, and the probability of one-time trial operation success is improved.
And fourthly, due to the fact that environmental influence factors in the hydrological environment have variable characteristics, such as float grass, the change of the water surface form of the underwater terrain due to water flow scouring and the like, the originally planned path part fails. Therefore, after the final cruising route is planned in a static mode, in order to adapt to the complex and changeable characteristics of the hydrologic environment, environmental data needs to be periodically monitored and collected in the daily cruising process, and the route is periodically and continuously corrected at a certain frequency to form dynamic correction on static route planning, so that the situation that the failed part of the original route is overlarge and has to be re-planned after long-time maintenance loss is avoided.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a path planning method for automatic cruising with environmental characteristics, which comprises the following steps:
step 1: generating a preliminary planning path through the water surface channel information acquired by the geographic information system;
step 2: collecting and marking environmental characteristic data along the preliminarily planned path;
and step 3: correcting the preliminarily planned path by utilizing the environmental characteristic data to obtain a pilot path;
and 4, step 4: and (4) testing the automatic driving ship on the actual water surface according to the test-flight path, further correcting the test-flight path, and recording the corrected track as a final cruising path.
In the step 1, a geographical information system software is adopted to cooperate with manual field exploration of water surface and channel information to generate a primary planned path, the primary planned path is a line segment which is marked on a map containing a cruising water area and contains a starting point and an end point, the line segment is discretized to generate discrete point information along the line segment, every two discrete points form a vector line segment, every two adjacent vector line segments share one discrete point, and the discrete point is the end point of the previous vector line segment and is also the starting point of the next vector line segment.
In the step 1, setting a preliminary planned path to obtain N discrete points after dispersion, forming N-1 continuous vector line segments by the N discrete points, marking along the path advancing direction, wherein the starting point of the ith vector line segment V (i) is marked as E (i), and the end point is marked as E (i + 1).
In step 2, the collected environmental characteristic data includes water surface and underwater environmental information along the preliminarily planned path, the collected environmental information is marked on a map containing the preliminarily planned path, the marked information includes the position of a central point o forming an influence area and an influence radius r taking the central point o as a circle center, a circular area determined by the two parameters forms an environment factor influence area, all the related environment factor influence areas form a set, which is marked as a ═ { a (0), a (1),.. the., a (n) }, the ith environment factor influence area is a (i), the value of i is 1-n, and elements in the A are sorted according to the sequence of the central point of each environment factor influence area along the preliminarily planned path.
And 3, sequentially processing each environmental factor influence area in the A according to a sequencing sequence, correcting the path vector line segment which is related to the overlapped part of each environmental factor influence area, and deleting or adding a new path vector line segment to the original path vector line segment if necessary to form a new planning path, namely the pilot path.
The step 3 comprises the following steps:
setting an environmental factor influence area to interfere with one or more path vector line segments, specifically including the following conditions:
the first condition is as follows: the line segment of a path vector involved by the interference influence of one environmental factor influence area is one;
setting an environment factor influence area as a, and setting a path corresponding to the path vector line segment V (1) as E1- > E2;
at this time, the overlapping portion of the environmental factor influence area a and the path vector line segment V (1) does not relate to any of the discrete points E1 or E2, a perpendicular bisector of the line segments E1-E2 is taken, the discrete point E1 is used as a starting point, and the overlapping portion deviates from the side of the environmental factor influence area a away from the center o by a certain angle (30 degrees is recommended as a default, 45 degrees is recommended again, the deviation angle is tried to be increased by 15 degrees as increment, but is not recommended to exceed 75 degrees, if the deviation angle is still not avoided by more than 75 degrees, it is still possible to indicate that the influence area a of the environmental factor is too large, the preliminarily planned path needs to be redesigned, such problem is avoided), after the overlapping portion is avoided, a vector line and the perpendicular bisector are made at the point E (new), the original path vector line segment V (1) is deleted, and new path vector line segments V (1) and V (1) are replaced by new path vector line segments V (1), and E1- > E (new, the path vector line segment V (new) corresponds to a path E (new) - > E2;
case two: two path vector line segments are involved in interference influence of one environment factor influence area;
setting an environment factor influence area as a, a path corresponding to a path vector line segment V (1) as E1- > E2, a path corresponding to a path vector line segment V (2) as E2- > E3, and an overlapped part of a and V (1) and V (2) relates to a discrete point E2, then taking a perpendicular bisector of the line segment E1-E3, deviating a certain angle (preferably 30 degrees by default and 45 degrees again) from one side of a far away from a circle center o by taking E1 as a starting point, trying to increase the deviation angle by taking 15 degrees as increment, but not proposing more than 75 degrees, if the deviation angle still cannot be avoided under the condition of more than 75 degrees, then the influence area a of the environment factor is too large, a preliminarily planned path needs to be redesigned, and after avoiding the overlapped part, a vector line and the perpendicular bisector intersect at a point E (new), deleting the original V (1) and V (2) instead of new (V (1) and V (new), the new path corresponding to V (1) is E1- > E (new), and the path corresponding to V (new) is E (new) -E3;
case three: the number of the path vector line segments involved by the interference influence of one environment factor influence area is three;
setting an environmental factor influence area as a, setting a path corresponding to a path vector line segment V (1) as E1- > E2, a path corresponding to a path vector line segment V (2) as E2- > E3, a path corresponding to a path vector line segment V (3) as E3- > E4, and overlapping parts of a and V (1), V (2) and V (3) relate to E2 and E3, then taking a perpendicular bisector of the line segment E1-E4, deviating a certain angle from one side of a away from a center o of a by taking E1 as a starting point (default is 30 degrees, again is 45 degrees, the deviation angle is tried to be increased by 15 degrees, but not more than 75 degrees is recommended, if the deviation angle still cannot be avoided under the condition of more than 75 degrees, the influence area a of the environmental factor is too large, the preliminarily planned path needs to be redesigned to avoid such problems), then making a vector line and intersecting the perpendicular line and avoiding the intersection point E new, original V (1), V (2) and V (3) are deleted and replaced by new V (1) and V (new), the path corresponding to the new V (1) is E1- > E (new), and the path corresponding to the V (new) is E (new) -E4;
other cases are as follows: since the number of V interfering with one a in an actual production environment rarely exceeds 3, if the number of V interfering with one a exceeds 3, it can be considered that the influence area of the environmental factor is too large, and the preliminarily planned path needs to be redesigned to avoid such problems.
And step 4, automatically operating the automatic driving ship along the pilot path. The automatic driving ship starts from the starting point and runs along each vector line segment at a constant speed until the ending point. And detecting the water surface obstacle condition by adopting a detection device such as a radar and the like in each vector line segment, and positioning and recording the position coordinate in the process of traveling by adopting a positioning device such as a GPS and the like. And carrying out local correction on the line segment once the obstacle exists in the traveling route. And after the correction is successful, modifying the discrete point set of the original pilot path and recording as a final cruise path.
The local correction method comprises the following steps: automatic correction, manual on-line monitoring and interference intervention when necessary are preferably adopted. After obstacle interference occurs in a driving path, driving is suspended, the driving is returned to the starting point of the vector line segment along the opposite direction of the vector line segment, the vector line segment is deflected to one side of the vector line segment by a certain angle (30 degrees is recommended, 45 degrees is recommended again, the deviation angle is tried to be increased by 15 degrees as increment, but the deviation angle is not recommended to exceed 75 degrees, if the deviation angle is still not avoided under the condition of being larger than 75 degrees, the influence area of the on-site environmental factors is too large, the originally collected environmental influence area data is wrong, a pilot path needs to be redesigned, and the problem is avoided), the vehicle runs to the intersection of the middle perpendicular line of the vector line segment along a straight line, the vehicle deflects to the other side of the course of the vector line segment by twice of the original deflection angle. If the automatic correction is unsuccessful in the mode, manual intervention auxiliary correction can be introduced. And after the correction is successful, obtaining the position coordinates of the newly generated correction point, adding the discrete point set of the original pilot path, and regenerating the final cruise path. Because the correction process is fine adjustment performed on the pilot path which is corrected in advance based on the environmental influence, the automatically corrected path should not deviate from the pilot path too much (otherwise, it is described that the 'environmental factor influence area' is wrongly marked to cause incorrect correction on the preliminarily planned path, and the preliminarily planned path, namely the correction and generation of the pilot path, needs to be reconsidered).
The invention also comprises a step 5: and continuously and periodically collecting environmental characteristic data on the cruise path and marking the environmental characteristic data in the daily running process, and continuously compensating and correcting the cruise path if the existing cruise path is interfered.
And step 5, continuously and periodically collecting environmental characteristic data along the cruise path in the daily driving process, marking the environmental characteristic data, and continuously compensating and correcting the cruise path if the existing cruise path is interfered. The method for collecting and labeling the environmental characteristic data along the cruise path, which is referred to in the specific step 5, may refer to the description of the step 2, and the description of the step 3 may refer to the compensation and correction method for the existing cruise path. The reason for the introduction of step 5 is mainly that, considering that the change of the hydrological conditions is relatively complex relative to the land road traffic, for the cruise route prepared earlier, although the basic geographical form does not change greatly, local failures may be caused by the change of the hydrological environment, such as the increase or disappearance of a water vortex area caused by the underwater shoal scouring, so in the actual operation process, the environmental factors along the cruise route need to be collected and labeled periodically, and once the change is found to have an interfering influence on the existing "cruise route", the "cruise route" needs to be compensated and corrected as soon as possible. The problem that the failed part of the original route is too large to be planned again after long-time maintenance loss is avoided.
Drawings
The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of the correction method in the case that a path vector line segment related to the interference influence of the environmental factor influence area in step 3 of the method is one.
Fig. 3 is a schematic diagram of the correction method in the case where two path vector line segments are involved in the interference influence on the environmental factor influence area in step 3 of the method of the present invention.
Fig. 4 is a schematic diagram of the correction method in the case where three path vector line segments are involved in interference influence on the environmental factor influence area in step 3 of the method of the present invention.
Fig. 5 is a schematic diagram of a correction method for influencing a certain trial navigation vector path against an obstacle in step 4 of the method of the present invention.
FIG. 6 is an example showing that discretization of a path generates three vector paths E1- > E2, E2- > E3, E3- > E4 from the start point to the end point.
FIG. 7 is an example, which shows that on the basis of FIG. 6, an environmental factor influence region a interferes and influences two path vector line segments E1- > E2 and E2- > E3.
Fig. 8 is an example, which shows that, on the basis of fig. 7, after correcting two path vector line segments E1- > E2 and E2- > E3 affected by interference of the environmental factor affected area a, the generated new pilot path is three-segment vector paths E1- > E (new), E (new) > E3, E3- > E4.
Fig. 9 is an example, which shows that, based on fig. 8, a pilot run is performed based on the pilot run path shown in fig. 8, and it is found that, as a result of correcting the E3- > E4 vector path segment after encountering the obstacle region b in the E3- > E4 vector path segment, the generated new final cruise path is four-segment vector path E1- > E (new), E (new) — > E3, E3- > E (new2), E (new2) - > E4.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
In order to solve the defects and shortcomings of the existing planning method, the invention provides a method for realizing path planning for automatic cruising by combining environmental characteristics. In order to make the purpose and technical solution of the present invention clearer, the following will further describe a real-time solution of the present invention with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
A method for realizing path planning for automatic cruising by combining environmental characteristics comprises the following steps:
step 1: generating a preliminary planning path through the water surface channel information acquired by the geographic information system;
step 2: collecting and marking environmental characteristic data along the preliminarily planned path;
and step 3: correcting the preliminarily planned path by utilizing the environmental characteristic data to obtain a pilot path;
and 4, step 4: the automatic driving ship tests the actual water surface according to the test-voyage path, further correcting the test-voyage path in the process, and recording the corrected track as a final cruising path;
and 5: and continuously and periodically collecting environmental characteristic data on the cruise path and marking the environmental characteristic data in the daily running process, and continuously compensating and correcting the cruise path if the existing cruise path is interfered.
In step 1, a plurality of kinds of geographic information system software are adopted to cooperate with manual field survey of water surface and channel information to generate a route, the route is essentially a line segment which is marked on a map containing a cruising water area and contains a starting point and an end point, meanwhile, the line segment is discretized for the requirements of automatic driving navigation and further correction to generate discrete point information along the line segment, every two discrete points form a small vector line segment, every two adjacent vector line segments share one discrete point, and the discrete point is the end point of the previous vector line segment and is also the starting point of the next vector line segment. Assuming that N discrete points are obtained after the whole preliminarily planned path is discretized, the N discrete points form N-1 continuous vector line segments v (i), the marking is performed along the path advancing direction, the starting point of the ith vector line segment is marked as E (i), the end point is marked as E (i +1), the starting point of the (i +1) th vector line segment adjacent to the path advancing direction is marked as E (i +1), the end point is marked as E (i +2), and so on.
In step 2, the collected data mainly includes the environmental information of the water surface and the underwater along the preliminarily planned path, such as whether there is an area where water plants are easy to breed on the water surface, whether there is a violent fluctuation on the water bottom surface which causes the water surface to generate vortex easily, whether there is a raised reef underwater, etc., the factors which directly affect the operation along the preliminarily planned path are marked on the map containing the preliminarily planned path after being actually surveyed and confirmed, the general marking information is the position of the central point (marked as o) which forms the affected area and the radius of the effect (marked as r) which takes the central point as the center of the circle, and the circular area determined by the two parameters forms an "environmental factor affected area" a ". All the involved "environmental factor influence areas" a (i) constitute a set, denoted as a ═ a (0), a (1),.., a (n), and ensure that the elements in a are ordered in the order of the center point of each a along the preliminarily planned path.
In step 3, the correction method comprises the following steps: and (c) sequentially processing each a (i) in the A according to the sequencing order, correcting the path vector line segment V (j) related to the overlapped part of each a (i), and deleting or adding a new V (k) to the original V (j) if necessary to form a new planned path, wherein the new path is still formed by discrete points and is called a pilot path. The specific method for correcting each of a (i) and V (j) is as follows:
setting an 'environmental factor influence area' a to interfere with one or more V, wherein the specific correction method comprises the following steps:
the first condition is as follows: one a interference influence relates to V as one. As shown in the left diagram of fig. 2: if the overlapped part of the a and the V (1) does not relate to either E1 or E2, a perpendicular bisector of the line segment E1-E2 is taken, and the line segment E1 is taken as a starting point, deviates 30 degrees from the overlapped part to the side of the a far away from the circle center o, and then a vector line and the perpendicular bisector are crossed with the line segment E (new), and the original V (1) is deleted and replaced by new V (1) (corresponding to E1- > E (new)) and V (new) (corresponding to E (new) — > E2), and the right graph in FIG. 2 is seen in detail.
Case two: the influence of one a interference involves two V. As shown in the left diagram of fig. 3: if the overlapping part of a and V (1) and V (2) relates to E2, then a perpendicular bisector of a line segment E1-E3 is taken, and a vector line is made after the line segment E1 is used as a starting point and deviates from the overlapping part by 30 degrees to the side of a away from the circle center o, and the perpendicular bisector is intersected with the E (new), the original V (1) and V (2) are deleted and replaced by new V (1) (corresponding to E1- > E (new)) and V (new) (corresponding to E (new) > E3), and the right graph in FIG. 3 is shown in detail.
Case three: the influence of one a interference relates to three V. As shown in the left diagram of fig. 4: the overlapping part of a and V (1), V (2) and V (3) relates to E2 and E3, then a vector line and a perpendicular bisector are made to intersect at E (new) after taking the perpendicular bisector of the line segments E1-E4 and deviating 30 degrees from the side of a away from the center o of circle by taking E1 as a starting point, and the original V (1), V (2) and V (3) are deleted instead of new V (1) (corresponding to E1- > E (new)) and V (new) (corresponding to E (new)) - > E4, and the right graph in FIG. 4 is seen in detail.
Other cases are as follows: since the number of V interfering with one a in an actual production environment rarely exceeds 3, if the number of V interfering with one a exceeds 3, it can be considered that the influence area of the environmental factor is too large, and the preliminarily planned path needs to be redesigned to avoid such problems.
And step 4, further correcting the pilot path in an automatic mode, and recording the corrected track as a final cruising path, wherein the method is characterized in that: the automatic driving ship runs along a pilot path, starts from a starting point and runs to a terminal point along each vector V (i), constant-speed straight-line running is kept in each V (i), a detection device such as a radar is adopted to check the condition of a water surface obstacle in each V (i), and a positioning device such as a GPS is adopted to position and record the position coordinate in running. . If the fact that the actual field environment still affects the planned path is found in one V (i), the straight-line section path is corrected, as shown in the left graph in the figure 5, in the process that the automatic driving ship automatically drives along the vector path line section from E1 to E2, an area a where the water surface exists is found to generate an obstacle on the path through radar scanning, driving is suspended, the automatic driving ship automatically returns to the starting point E1 of the vector line section along the opposite direction of the vector line section in a GPS positioning mode, and drives along a straight line to the intersection E (new) of the perpendicular bisector of the vector line section E1-E2 after deflecting 30 degrees to the left side of the vector line section, and then deflects to the other side of the course by 60 degrees and reaches the end point E2 of the vector line section along the straight line. Because the process is fine adjustment performed on the pilot path which is corrected in advance based on the environmental influence, the manually corrected path should not deviate from the pilot path too much (otherwise, it is stated that the "environmental factor influence area" is marked with mistakes to cause incorrect manual correction on the preliminarily planned path, and the preliminarily planned path should be corrected again). After the correction is successful, the discrete point sets of the pilot path are modified into E1- > E (new) and E (new) - > E2, which is detailed in the right diagram in fig. 5. And adding the line segment marked as the new cruise path into the final cruise path discrete point set.
And step 5, continuously and periodically collecting environmental characteristic data along the cruise path in the daily driving process, marking the environmental characteristic data, and continuously compensating and correcting the cruise path if the existing cruise path is interfered. The method for collecting and labeling the environmental characteristic data along the cruise path, which is referred to in the specific step 5, may refer to the description of the step 2, and the description of the step 3 may refer to the compensation and correction method for the existing cruise path. The reason for the introduction of step 5 is mainly that, considering that the change of the hydrological conditions is relatively complex relative to the land road traffic, for the cruise route prepared earlier, although the basic geographical form does not change greatly, local failures may be caused by the change of the hydrological environment, such as the increase or disappearance of a water vortex area caused by the underwater shoal scouring, so in the actual operation process, the environmental factors along the cruise route need to be collected and labeled periodically, and once the change is found to have an interfering influence on the existing "cruise route", the "cruise route" needs to be compensated and corrected as soon as possible. The problem that the failed part of the original route is too large to be planned again after long-time maintenance loss is avoided.
Examples
As shown in fig. 1, the present invention provides a method for implementing path planning for automatic cruise by combining environmental characteristics, which includes the following steps:
step 1: generating a preliminary planning path through the water surface channel information acquired by the geographic information system;
step 2: collecting and marking environmental characteristic data along the preliminarily planned path;
and step 3: correcting the preliminarily planned path by utilizing the environmental characteristic data to obtain a pilot path;
and 4, step 4: the automatic driving ship tests the actual water surface according to the test-voyage path, further correcting the test-voyage path in the process, and recording the corrected track as a final cruising path;
and 5: and continuously and periodically collecting environmental characteristic data on the cruise path and marking the environmental characteristic data in the daily running process, and continuously compensating and correcting the cruise path if the existing cruise path is interfered.
In the step 1, a preliminary planning path is generated through water surface or channel information acquired by a geographic information system. As a preferred embodiment, the planned ship navigation path is realized and expressed based on an ARCGIS software platform, wherein the ARCGIS is a Geographic Information System (GIS) of a public GIS business software platform, and is a computer System composed of hardware, software and spatial data, and can support acquisition, management, operation, analysis, modeling and display of the geospatial data to solve the problems of complex planning and management. GIS has a wide range of applications, such as: the method comprises the steps of natural resource clearing and management, regional and city planning and management, environment monitoring, vehicle operation and road selection, an electric power system and the like. The method is characterized in that a route is generated after water surface and channel information is manually surveyed on the basis of geographic information system software, the route is essentially a line segment which is marked on a map containing a cruising water area and comprises a starting point and an end point, and meanwhile, the line segment is discretized for the requirement of automatic driving navigation to generate discrete point information along the line segment. As shown in fig. 6, the preliminarily planned path is divided into three segments, which are respectively V (1) (corresponding to E1- > E2); v (2) (corresponding to E2- > E3); v (3) (corresponding to E3- > E4):
in step 2, collecting environmental characteristic data along the preliminary planning path and marking, wherein the general marking information comprises a central point and an influence radius taking the central point as a circle center, and the circular area forms an environmental factor influence area. As shown in fig. 7, only one "environmental factor influence area" a is labeled in this example, the center point is labeled as o, and the radius is labeled as r. Similarly, all the involved "environmental factor influence areas" a (i) need to form a set a, and ensure that the elements in a are sorted according to the order of the central point of each a (i) along the preliminarily planned path, only one "environmental factor influence area" a is labeled in this example, and is denoted as a ═ a }, and the sorting process is omitted.
In step 3, the preliminary planned path is corrected by using the collected environmental characteristic data, all a (i) in A are traversed, and V (j) related to a (i) is corrected. In this example a has only one element a and the V affected by a is two. As shown in fig. 8: if the overlapping part of the a and the V (1) and the V (2) relates to E2, a perpendicular bisector of a line segment E1-E3 is taken, a vector line is formed after the E1 is taken as a starting point and the line deviates 30 degrees from the overlapping part to the side of the a far away from the circle center o, and the perpendicular bisector is intersected with the E (new), and the original V (1) and the original V (2) are deleted and replaced by new V (1) (corresponding to E1- > E (new)) and V (new) (corresponding to E (new) — > E3). Obtaining a pilot path after adjustment, wherein the pilot path comprises three sections, namely V (1) (corresponding to E1- > E (new)); v (new) (corresponding to E (new) - > E3); v (3) (corresponding to E3- > E4).
In the step 4: and the automatic driving ship tests the actual water surface according to the test-voyage path, further correcting the test-voyage path in the process in an automatic mode, and recording the corrected track as a final cruising path. The automatic driving ship runs along a pilot path, runs from a starting point E1 to an end point E4 along each vector V (i) under GPS positioning navigation, keeps running at a constant speed in a straight line in each V (i), and simultaneously scans whether an obstacle area exists on the water surface or not by adopting radar to influence the advance of the ship. And if the influence area b still exists in the actual site environment in V (3) and influences the planned path, stopping automatic driving, returning to the starting point E3 of the straight line segment, deflecting 30 degrees to the left, driving along the straight line to the intersection E (new2) with the perpendicular bisector of the vector line segment E1- > E2, further deflecting 60 degrees to the other side of the heading, and then reaching the end point E2 of the vector line segment along the straight line. And after the correction is successful, modifying the discrete point set of the original pilot path and recording as a final cruise path. The final cruising path is four segments, namely V (1) (corresponding to E1- > E (new)); v (new) (corresponding to E (new) - > E3); v (3) (corresponding to E3- > E (new 2)); v (new2) (corresponding to E (new2) - > E4), as shown in fig. 9:
according to the requirements of step 5: and continuously and periodically collecting environmental characteristic data on the cruise path and marking the environmental characteristic data in the daily running process, and if the existing cruise path is interfered, continuously compensating and correcting the cruise path. The method for collecting and labeling the environmental characteristic data along the cruise path, which is referred to in the specific step 5, may refer to the description of the step 2, and the description of the step 3 may refer to the compensation and correction method for the existing cruise path.
The present invention provides a path planning method for automatic cruise combined with environmental characteristics, and a plurality of methods and approaches for implementing the technical scheme, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (1)
1. A path planning method for automatic cruising combined with environmental characteristics, comprising the steps of:
step 1: generating a preliminary planning path through the water surface channel information acquired by the geographic information system;
step 2: collecting and marking environmental characteristic data along the preliminarily planned path;
and step 3: correcting the preliminarily planned path by utilizing the environmental characteristic data to obtain a pilot path;
and 4, step 4: the automatic driving ship tests the actual water surface according to the test-voyage path, further correcting the test-voyage path, and recording the corrected track as a final cruising path;
step 1, adopting geographic information system software to cooperate with manual field survey of water surface and channel information to generate a primary planned path, wherein the primary planned path is a line segment which is marked on a map containing a cruising water area and comprises a starting point and an end point, discretizing the line segment to generate discrete point information along the line segment, each two discrete points form a vector line segment, each two adjacent vector line segments share one discrete point, and the discrete point is the end point of the previous vector line segment and is also the starting point of the next vector line segment;
in the step 1, setting a preliminary planned path to obtain N discrete points after dispersion, forming N-1 continuous vector line segments by the N discrete points, marking along the path advancing direction, wherein the starting point of the ith vector line segment V (i) is marked as E (i), and the end point is marked as E (i + 1);
in step 2, the collected environmental characteristic data includes water surface and underwater environmental information along a preliminarily planned path, the collected environmental information is marked on a map containing the preliminarily planned path, the marked information includes the position of a central point o forming an influence area and an influence radius r taking the central point o as a circle center, a circular area determined by the two parameters forms an environment factor influence area, all the related environment factor influence areas form a set, which is marked as A ═ { a (0), a (1),.. multidot.,. a (n) }, the ith environment factor influence area is a (i), the value of i is 1-n, and elements in A are sorted according to the sequence of the central point of each environment factor influence area along the preliminarily planned path;
in step 3, sequentially processing each environmental factor influence area in the A according to a sequencing order, correcting the path vector line segment related to the overlapped part of each environmental factor influence area, and deleting or adding a new path vector line segment to the original path vector line segment if necessary to form a new planning path, namely the pilot path;
the step 3 comprises the following steps:
setting an environmental factor influence area to interfere with one or more path vector line segments, specifically including the following conditions:
the first condition is as follows: the line segment of a path vector involved by the interference influence of one environmental factor influence area is one;
setting an environment factor influence area as a, and setting a path corresponding to the path vector line segment V (1) as E1- > E2;
at this time, the overlapping portion of the environmental factor influence area a and the path vector line segment V (1) does not relate to any of the discrete point E1 or the discrete point E2, a perpendicular bisector of the line segments E1-E2 is taken, the discrete point E1 is used as a starting point, the overlapping portion is avoided by deviating a certain angle to the side of the environmental factor influence area a away from the circle center o, a vector line and the perpendicular bisector are made to intersect at the point E (new), the original path vector line segment V (1) is deleted instead of the new path vector line segments V (1) and V (new), the path corresponding to the new path vector line segment V (1) is E1- > E (new), and the path corresponding to the path vector line segment V (new) is E (new) -E2;
case two: two path vector line segments are involved in interference influence of one environment factor influence area;
setting an environmental factor influence area as a, a path corresponding to a path vector line segment V (1) as E1- > E2, a path corresponding to a path vector line segment V (2) as E2- > E3, and an overlapped part of a and V (1) and V (2) relates to a discrete point E2, then taking a perpendicular bisector of the line segment E1-E3, deviating a certain angle from the side of a far from a circle center o by taking E1 as a starting point, and taking a vector line and the perpendicular bisector to intersect at a point E (new), deleting the original V (1) and V (2) instead of the new V (1) and V (new), wherein the path corresponding to the new V (1) is E1- > E (new), and the path corresponding to V (new) is E (new) — > E3;
case three: the number of the path vector line segments involved by the interference influence of one environment factor influence area is three;
setting an environmental factor influence area as a, a path corresponding to a path vector line segment V (1) as E1- > E2, a path corresponding to a path vector line segment V (2) as E2- > E3, a path corresponding to a path vector line segment V (3) as E3- > E4, and an overlapping portion of a and V (1), V (2) and V (3) relates to E2 and E3, then taking a perpendicular bisector of the line segment E1-E4, making a vector line and the perpendicular intersect at a point E (new) after deviating the overlapping portion to one side of a deviating from a center o by a certain angle with the E1 as a starting point, deleting the original V (1), V (2) and V (3) instead of the new V (1) and V (new), a path corresponding to the new V (1) as E1- > E (new), and a path corresponding to the V (new) as E4- > E4;
step 4, the automatic driving ship automatically runs along the pilot path, the automatic driving ship runs at a constant speed from a starting point to an end point along each vector line segment, a detection device is adopted to detect the situation of the obstacle on the water surface in each vector line segment, a positioning device is adopted to position and record the position coordinate in the process of running, once the obstacle exists in the running route, the line segment is locally corrected, and the local correction method comprises the following steps: stopping driving, returning to the starting point of the vector line segment along the opposite direction of the vector line segment, deflecting a certain angle to one side of the vector line segment, then driving along a straight line to the intersection of the vector line segment and the perpendicular bisector of the vector line segment, then deflecting twice the original deflection angle to the other side of the course, then arriving at the end point of the vector line segment along the straight line, after the correction is successful, adding the discrete point set of the original pilot path into the newly generated correction point position, and regenerating the final cruise path;
further comprising the step 5: and continuously and periodically collecting environmental characteristic data on the cruise path and marking the environmental characteristic data in the daily running process, and continuously compensating and correcting the cruise path if the existing cruise path is interfered.
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| CN112797983B (en) * | 2020-12-31 | 2023-10-03 | 广州极飞科技股份有限公司 | Path planning method, path planning device, unmanned equipment and storage medium |
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