CN111176281A - Multi-surface unmanned ship coverage type collaborative search method and system based on quadrant method - Google Patents
Multi-surface unmanned ship coverage type collaborative search method and system based on quadrant method Download PDFInfo
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- CN111176281A CN111176281A CN201911420429.5A CN201911420429A CN111176281A CN 111176281 A CN111176281 A CN 111176281A CN 201911420429 A CN201911420429 A CN 201911420429A CN 111176281 A CN111176281 A CN 111176281A
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Abstract
The invention discloses a multi-water-surface unmanned ship coverage type collaborative search method and system based on a quadrant method, belongs to the field of multi-ship collaborative control, and is used for realizing large-area or busy water area fast survey and improving survey efficiency and accuracy.
Description
Technical Field
The invention belongs to the field of multi-boat cooperative control, and particularly relates to a quadrant type cooperative search method in a multi-unmanned boat cooperative search process, namely, a quadrant method is utilized to divide an area to be searched into four small areas and the four small areas are distributed to unmanned boats for searching.
Background
As a light and high-speed Unmanned ship, the Unmanned Ship (USV) has the characteristics of Unmanned property, flexible movement, intellectualization, lower cost and the like, and has important application value in the aspects of military use and civil use. However, in complex dynamic environments, a single unmanned boat may not be able to handle many uncertain hazards due to its own performance limitations, and thus cannot accomplish complex tasks. And a plurality of unmanned ships not only can overcome the function limitation of a single unmanned ship platform through cooperative cooperation, but also have better maneuvering characteristics, higher working efficiency and larger working range. Therefore, the research on the cooperation mechanism of the unmanned surface vehicle is an important direction for the research on the unmanned surface vehicle.
Disclosure of Invention
The invention aims to provide a multi-surface unmanned ship coverage type collaborative search strategy based on a quadrant method, which is used for realizing large-area or busy water area fast survey, improving survey efficiency and accuracy, enabling the multi-surface unmanned ships to conduct water area detection in a collaborative mode, collecting data from multiple angles, effectively reducing detection time, increasing efficiency and completing fast detection of a water area.
The purpose of the invention is realized as follows: a multi-water-surface unmanned ship coverage type collaborative search method based on a quadrant method is characterized in that a plurality of unmanned ships are formed into a team, unmanned ships of different levels are distributed to different search quadrant water surfaces, single unmanned ship path planning is carried out on areas to be searched of four quadrants, and the unmanned ships collaboratively execute water area search.
Further, the specific method is as follows:
(1) the unmanned ships are formed into a reverse V-shaped straight-going train, the interval between the unmanned ships is 2d, when searching is started, the coordinate origin, the X axis and the Y axis are determined according to the positions of the unmanned ships of the leader, a coordinate system is established, and four quadrants are divided; setting the whole search area as a task area with side lengths of L and B;
(2) the leader unmanned ship continues to run straight along the Y axis, searches the range with the left and right distances of d meters respectively, and finally stops at the middle point of the upper boundary with the coordinate of (0, L/2);
(3) the secondary leader unmanned ship on the left side of the leader unmanned ship continues to run straight for 2d along a straight line (-2d,0), turns left to enter a second quadrant to perform search in the area, and finally stops at the leftmost position of the boundary on the search area, wherein the coordinate is (-B/2, L/2);
(4) the secondary leader unmanned ship on the right side of the leader unmanned ship continues to run straight for 2d along a straight line (2d,0), turns right to enter a first quadrant to search in the search area, and finally stops at the position on the rightmost side of the boundary on the search area, wherein the coordinates are (B/2 and L/2);
(5) the left follower unmanned boat on the left side of the secondary leader unmanned boat on the left side continues to run straight for 2d along a straight line (-4d,0) for searching in a third quadrant, after the search of the quadrant is finished, the left follower unmanned boat continues to run straight along a navigation route before receiving an instruction, passes through a second quadrant and finally stops at the middle position of the left leader unmanned boat and the secondary leader unmanned boat on the left side, and the coordinate is (-B/4, L/2);
(6) and the follower unmanned boat on the right side of the secondary leader unmanned boat on the right side continuously travels for 2d along a straight line (4d,0) and turns right to enter a fourth quadrant for executing search in the region, after the search in the quadrant is finished, the follower unmanned boat on the right side continuously travels straight along the navigation route before receiving an instruction, and finally stops at the middle position of the leader unmanned boat on the right side and the secondary leader unmanned boat on the right side after passing through the first quadrant, wherein the coordinates are (B/4, L/2).
Further, when the secondary leader unmanned ship and/or the follower unmanned ship independently sail to complete search tasks of respective areas, a full coverage path planning algorithm based on a grid method is adopted to determine a search path to sail.
Further, a grid method-based full coverage path planning algorithm:
1) initializing the state of the unmanned ship, and setting a parameter c;
2) determining whether a free unit exists near the position at the moment, and if not, going to step 3); step 4) is carried out;
3) determining whether the unmanned ship has a grid which is not walked in the environment, and if the grid which is not walked indicates that the unmanned ship enters a dead museum, escaping by using an A-star algorithm; if all grids have been walked, then full coverage is complete;
4) and determining the next moving position of the unmanned ship by using the grid activity value, marking the position at the moment as traversed, and returning to the step 2).
Further, the method for determining the next moving position of the unmanned ship by using the grid activity value comprises the following steps:
the position activity value is assigned to each grid, and the position activity value w is expressed by the formula (1.1)xCarrying out assignment;
the direction activity value enables the unmanned ship to freely select a forward route according to the current grid state, and the direction activity value wyExpressed by equation (1.2):
Δθjexpressed as:
θjis the course angle, theta, of the unmanned ship at the current positioncIs the course angle of the unmanned boat at the previous position;
and
the current position, the position coordinates of the previous moment and the position coordinates of the next moment of the unmanned ship on the map are respectively; delta thetaj∈[0,π]If Δ θjWhen the unmanned ship moves forward linearly, the unmanned ship does not need to rotateThe energy loss is minimum; if Δ θjIf the unmanned ship moves forward in the opposite direction, the steering angle of the unmanned ship is the largest, and the energy loss is the largest;
including the position activity value and the orientation activity value in the grid activity value FjThe method comprises the following steps:
in the formula: p is a radical ofjRepresenting the next advancing place of the unmanned boat; c is a weight constant, 0<c<1; k is the grid p at this momentcThe number of adjacent grids.
Further, using the a-algorithm to escape from the dead zone, searching for the target node by maintaining an open linked list and a closed linked list, and for a given start node s and target node e, the algorithm steps are as follows:
step 1: placing a starting node s into a closed linked list, and placing grids around s into an open linked list;
step 2: searching the grid v with the minimum weight f in the open linked list as a next node, deleting the next node in the open linked list, and putting the next node in a closed linked list;
setp 3: searching four nodes around the grid v to judge whether the nodes are targets, if the nodes are the target nodes, generating an optimal path according to a forward pointer of the nodes, and ending the program; otherwise, adding the nodes into the open linked list, turning to Step2, and if all open linked lists are searched and the target node is not found, turning to Step 4;
step 4: the output has no reachable path.
The invention also relates to a multi-surface unmanned ship coverage type collaborative search system based on a quadrant method, which comprises a collaborative search control center and collaborative search responders, wherein the collaborative search control center is a leader unmanned ship, and the collaborative search responders comprise secondary leader unmanned ships and follower unmanned ships; the cooperative search control center sets the whole area to be detected as an area with a transverse distance of B and a longitudinal distance of L, determines the origin, the X axis and the Y axis of a coordinate system, divides the whole search area into four quadrants of areas to be searched, and issues a search command to a cooperative search responder; planning the path of a single unmanned ship in the areas to be searched in the four quadrants; and the unmanned ship searches the water area according to the planned search path.
Has the advantages that: through cooperative cooperation, the unmanned boats not only can overcome the functional limitation of a single unmanned boat platform, but also have better maneuvering performance, higher working efficiency and larger working range. According to the conventional multi-unmanned-boat collaborative search strategy, a task area allocation method is complex, the precision of a path planning algorithm is insufficient, and the problems of obstacle avoidance, escape dead zones and the like of a single unmanned boat are generally not considered in the collaborative search process. By utilizing the coverage type collaborative search strategy based on the quadrant method, the distribution process of the task area can be simplified, the path planning algorithm of the single unmanned ship can effectively realize the full coverage of the whole area, and the problems of obstacle avoidance, dead zone entering and the like of the single unmanned ship are solved, so that the efficiency of collaborative search of multiple unmanned ships can be improved.
Drawings
Fig. 1 is a schematic diagram of a multi-surface unmanned ship coverage type collaborative search strategy based on a quadrant method.
FIG. 2 is a schematic diagram of the multi-surface unmanned ship coverage type collaborative search strategy based on a quadrant method and the multi-ship collaborative search ending.
Fig. 3 is a schematic diagram showing an area as a grid.
Fig. 4 is a schematic diagram after assigning a grid.
FIG. 5 is a graphical representation of directional activity values.
Fig. 6 is a flow chart of a full coverage path planning algorithm based on a grid method.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings:
a multi-surface unmanned ship coverage type collaborative search strategy based on a quadrant method comprises a collaborative search control center: the leader unmanned boat; collaborative search responders: a secondary leader unmanned ship and a follower unmanned ship; the cooperative search control center sets the whole area to be detected as an area with a transverse distance of B and a longitudinal distance of L, determines the origin, the X axis and the Y axis of a coordinate system, divides the whole search area into four small areas to be searched, and issues a search instruction to a cooperative search responder; planning the path of a single unmanned ship in the areas to be searched in the four quadrants; and the unmanned ship searches the water area according to the planned search path. A plurality of unmanned ships carry out regional coverage through cooperative cooperation, not only can overcome the functional limitation of single unmanned ship platform, still possess better maneuverability, higher work efficiency and bigger working range. The search method of the present invention will now be described in detail with reference to fig. 1 as follows:
(1) when the formation moves to a certain position in an inverted V shape, an operator issues a collaborative search task to the leader unmanned ship, and after the leader unmanned ship unscrambles the task, the task is respectively issued to a secondary leader unmanned ship and a follower unmanned ship;
(2) according to the fact that the position of the unmanned boat of the leader is taken as a coordinate origin, the continuous straight-moving direction of the unmanned boat is taken as a Y axis, the direction vertical to the straight-moving direction (the Y axis) is taken as an X axis to establish a coordinate system, the area nearby the coordinate system is divided into four quadrants, the Y-direction distance of the whole search area is set to be L, the X-direction distance is set to be B, and the interval between the unmanned boats is 2 d;
(3) the leader unmanned ship continues to run linearly, searches the ranges with the left and right distances of d meters respectively, and finally stops at the middle point position of the upper boundary, namely (0, L/2);
(4) the secondary leader unmanned ship on the left side of the leader unmanned ship continues to run linearly for a distance of 2d, then a left corner enters a second quadrant, area search is carried out in a path planning mode of a single unmanned ship, and finally the leader unmanned ship is parked at the leftmost position of the boundary on a search area, namely (-B/2, L/2);
(5) continuing to move straight for 2d from the secondary leader unmanned ship on the right side of the leader unmanned ship, then turning right to enter a first quadrant to execute region search, and finally stopping at the rightmost side of the upper boundary, namely the position of (B/2, L/2);
(6) after the left-side follower unmanned ship far away from the leader unmanned ship runs linearly for 2d, the left turning enters a third quadrant, a search task is executed, after the whole quadrant search is finished, the follower unmanned ship continues to run straight along the navigation route before receiving an instruction, and finally stops at a position between the leader unmanned ship and a left-side secondary leader after passing through the second quadrant, namely a position (-B/4, L/2);
(7) and (3) the follower on the right side moves straight for 2d, turns right and enters a fourth quadrant, and finally stops at the (-B/4, L/2) position between the leader unmanned ship and the secondary leader unmanned ship after the area search is finished, so that the whole area search is finished, and the full coverage is finished, as shown in the attached figure 2.
(8) Except that the unmanned boat of the leader moves straightly, when other unmanned boats independently navigate to finish the search task of respective areas, the search paths all adopt the full coverage path planning algorithm based on the grid method to navigate, the algorithm can ensure that the single unmanned boat can finish full coverage in respective quadrants, can effectively avoid obstacles when encountering the obstacles, and can timely escape after entering a dead zone.
(9) The grid-method-based full coverage path planning algorithm comprises two parts of grid activity value and dead zone escape by using A-algorithm. The grid activity values comprise position activity values and direction activity values, and the position activity values are used for determining the state of each grid; the direction activity value is the direction of the unmanned boat, and the unmanned boat is allowed to travel in a place where the unmanned boat is not detected.
(10) The position activity value is assigned to each grid. FIG. 3 is a state after the task area is divided into grids. The middle Pc represents the place where the unmanned ship is located at the moment, the nearby eight grids represent the approximate forward moving place of the unmanned ship, the black grids represent that obstacles exist, and the gray grids represent that no obstacles exist. Position activity value w by means of the formula (1.5)xAssignment is carried out, FIG. 4 being in accordance with wxThe trellis state after assignment.
(11) The direction activity value is mainly to allow the unmanned ship to freely select a forward route according to the current grid state. w is ayExpressed by equation (1.6):
Δθjexpressed as:
in the formula:
and
the current position, the position coordinates of the previous moment and the position coordinates of the next moment of the unmanned ship on the map are respectively; delta thetaj∈[0,π]If Δ θ is shown in FIG. 5jWhen the unmanned ship moves forward, the unmanned ship moves forward linearly, steering is not needed, and the loss energy is minimum; if Δ θjAnd (3) when the unmanned ship moves forward in the opposite direction, the steering angle of the unmanned ship is the largest, and the energy loss is the largest.
(12) To achieve full traversal of the task region, we include the position activity value and the orientation activity value in the grid activity value FjThe method comprises the following steps:
in the formula: p is a radical ofjRepresenting the next advancing place of the unmanned boat; c is a weight constant, 0<c<1; k is the grid p at this momentcThe number of adjacent grids. By means of the formula (1.7), it can be shown that the grid activity value takes into account both the state position of the grid and the steering of the unmanned boat.
(13) When the unmanned ship sails to a position where all the obstacles around the unmanned ship or the unmanned ship has walked, the unmanned ship enters a dead zone, the unmanned ship is free from the position by using the A-star algorithm, and the unmanned ship can always perform the following tasks.
(14) The A-algorithm is a search algorithm of an initiating characteristic in the artificial intelligence category, and a proper search direction is determined by introducing an initiating function. The heuristic function is:
f(n)＝g(n)+h(n) (1.8)
n is the current node, f (n) is the total weight, which represents the total motion cost value corresponding to the current node n from the initial node; g (n) is a cost function of the paths already spent from the starting node to the current node n; h (n) represents an estimate of the cost of reaching the target node from the current node n.
The algorithm searches for a target node by maintaining an open linked list and a closed linked list, and for a given start node s and target node e, the algorithm steps are as follows:
step 1: placing a starting node s into a closed linked list, and placing grids around s into an open linked list;
step 2: searching the grid v with the minimum weight f in the open linked list as a next node, deleting the next node in the open linked list, and putting the next node in a closed linked list;
setp 3: searching four nodes around v to judge whether the nodes are targets, if the nodes are the target nodes, generating an optimal path according to a forward pointer of the target nodes, and ending the program; otherwise, the nodes are added to the open linked list, and the Step2 is reached. If all open linked lists are searched and the target node is not found, the Step4 is carried out;
step 4: the output has no reachable path.
(15) And after the unmanned ship is separated from the dead zone, the unmanned ship can continue to judge according to the previous grid activity value, so that the position of the unmanned ship in the next step is determined.
(16) The flow chart of the full coverage path planning algorithm based on the grid method is shown in the attached figure 6, and the specific process is as follows:
1) initializing the state of the unmanned ship and setting a parameter c.
2) Determining whether a free unit exists near the position at the moment, and if not, going to step 3); there is step 4).
3) Determining whether the unmanned ship has a grid which is not walked in the environment, and if the grid which is not walked indicates that the unmanned ship enters a dead end, escaping by using an A-x algorithm; if all the grids are walked, then full coverage ends.
4) And determining the next moving position of the unmanned ship by using the grid activity value, marking the position at the moment as traversed, and returning to the step 2).
(17) The grid-method-based full coverage path planning algorithm can ensure the area search path planning of a single unmanned ship, and it can be seen from fig. 1 that the area of the search area of two follower unmanned ships is less than that of a secondary leader unmanned ship in two quadrants, because in the process of advancing the unmanned ship in an inverted V-shape, a part of the area of three or four quadrants is covered by the search, and then the covered area is:
S＝2×(1/2×4d×4d)+2×4d×(L/2-4d)＝4d(L-4d) (1.9)
i.e. the area represented by the grey colour, i.e. the covered area. And finally, the detection of the area to be searched by the cooperation of a plurality of unmanned boats can be realized by a quadrant method, so that the purpose of cooperative search is achieved.
The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (7)
1. A multi-water-surface unmanned ship coverage type collaborative search method based on a quadrant method is characterized in that a plurality of unmanned ships are formed, unmanned ships of different levels are distributed to different search quadrant water surfaces, single unmanned ship path planning is conducted on areas to be searched of four quadrants, and unmanned ships cooperatively execute water area search.
2. The multi-surface unmanned ship coverage type collaborative search method based on the quadrant method as claimed in claim 1, is characterized in that the specific method is as follows:
(1) the unmanned ships are formed into a reverse V-shaped straight-going train, the interval between the unmanned ships is 2d, when searching is started, the coordinate origin, the X axis and the Y axis are determined according to the positions of the unmanned ships of the leader, a coordinate system is established, and four quadrants are divided; setting the whole search area as a task area with side lengths of L and B;
(2) the leader unmanned ship continues to run straight along the Y axis, searches the range with the left and right distances of d meters respectively, and finally stops at the middle point of the upper boundary with the coordinate of (0, L/2);
(3) the secondary leader unmanned ship on the left side of the leader unmanned ship continues to run straight for 2d along a straight line (-2d,0), turns left to enter a second quadrant to perform search in the area, and finally stops at the leftmost position of the boundary on the search area, wherein the coordinate is (-B/2, L/2);
(4) the secondary leader unmanned ship on the right side of the leader unmanned ship continues to run straight for 2d along a straight line (2d,0), turns right to enter a first quadrant to search in the search area, and finally stops at the position on the rightmost side of the boundary on the search area, wherein the coordinates are (B/2 and L/2);
(5) the left follower unmanned boat on the left side of the secondary leader unmanned boat on the left side continues to run straight for 2d along a straight line (-4d,0) for searching in a third quadrant, after the search of the quadrant is finished, the left follower unmanned boat continues to run straight along a navigation route before receiving an instruction, passes through a second quadrant and finally stops at the middle position of the left leader unmanned boat and the secondary leader unmanned boat on the left side, and the coordinate is (-B/4, L/2);
(6) and the follower unmanned boat on the right side of the secondary leader unmanned boat on the right side continuously travels for 2d along a straight line (4d,0) and turns right to enter a fourth quadrant for executing search in the region, after the search in the quadrant is finished, the follower unmanned boat on the right side continuously travels straight along the navigation route before receiving an instruction, and finally stops at the middle position of the leader unmanned boat on the right side and the secondary leader unmanned boat on the right side after passing through the first quadrant, wherein the coordinates are (B/4, L/2).
3. The multi-surface unmanned ship coverage type collaborative search method based on the quadrant method as claimed in claim 1, wherein when the secondary leader unmanned ship and/or the follower unmanned ship sail independently to complete the search tasks of respective areas, a full coverage path planning algorithm based on a grid method is adopted to determine a search path for sailing.
4. The multi-surface unmanned ship coverage type collaborative search method based on the quadrant method as claimed in claim 3, wherein a full coverage path planning algorithm based on a grid method comprises:
1) initializing the state of the unmanned ship, and setting a parameter c;
2) determining whether a free unit exists near the position at the moment, and if not, going to step 3); step 4) is carried out;
3) determining whether the unmanned ship has a grid which is not walked in the environment, and if the grid which is not walked indicates that the unmanned ship enters a dead museum, escaping by using an A-star algorithm; if all grids have been walked, then full coverage is complete;
4) and determining the next moving position of the unmanned ship by using the grid activity value, marking the position at the moment as traversed, and returning to the step 2).
5. The multi-surface unmanned ship coverage type collaborative search method based on the quadrant method as claimed in claim 4, wherein the method for determining the next step moving position of the unmanned ship by using the grid activity value comprises the following steps:
the position activity value is assigned to each grid, and the position activity value w is expressed by the formula (1.1)xCarrying out assignment;
the direction activity value enables the unmanned ship to freely select a forward route according to the current grid state, and the direction activity value wyExpressed by equation (1.2):
Δθjexpressed as:
θjis the course angle, theta, of the unmanned ship at the current positioncIs the course angle of the unmanned boat at the previous position;
and
the current position, the position coordinates of the previous moment and the position coordinates of the next moment of the unmanned ship on the map are respectively; delta thetaj∈[0,π]If Δ θjWhen the unmanned ship moves forward, the unmanned ship moves forward linearly, steering is not needed, and the loss energy is minimum; if Δ θjIf the unmanned ship moves forward in the opposite direction, the steering angle of the unmanned ship is the largest, and the energy loss is the largest;
including the position activity value and the orientation activity value in the grid activity value FjThe method comprises the following steps:
in the formula: p is a radical ofjRepresenting the next advancing place of the unmanned boat; c is a weight constant, 0<c<1; k is the grid p at this momentcThe number of adjacent grids.
6. The method of claim 4, wherein the dead zone is escaped by using the A-x algorithm, the target node is searched by maintaining an open linked list and a closed linked list, and the algorithm steps are as follows for a given start node s and target node e:
step 1: placing a starting node s into a closed linked list, and placing grids around s into an open linked list;
step 2: searching the grid v with the minimum weight f in the open linked list as a next node, deleting the next node in the open linked list, and putting the next node in a closed linked list;
setp 3: searching four nodes around the grid v to judge whether the nodes are targets, if the nodes are the target nodes, generating an optimal path according to a forward pointer of the nodes, and ending the program; otherwise, adding the nodes into the open linked list, turning to Step2, and if all open linked lists are searched and the target node is not found, turning to Step 4;
step 4: the output has no reachable path.
7. A multi-surface unmanned ship coverage type collaborative search system based on a quadrant method comprises a collaborative search control center and collaborative search responders, wherein the collaborative search control center is a leader unmanned ship, and the collaborative search responders comprise secondary leader unmanned ships and follower unmanned ships; the cooperative search control center sets the whole area to be detected as an area with a transverse distance of B and a longitudinal distance of L, determines the origin, the X axis and the Y axis of a coordinate system, divides the whole search area into four quadrants of areas to be searched, and issues a search command to a cooperative search responder; planning the path of a single unmanned ship in the areas to be searched in the four quadrants; and the unmanned ship searches the water area according to the planned search path.
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| CN112817318A (en) * | 2021-01-06 | 2021-05-18 | 上海大学 | Multi-unmanned-boat collaborative search control method and system |
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