CN111256694A - Method for determining path of unmanned surface vehicle - Google Patents
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Abstract
The invention provides a method for determining a path of an unmanned surface vehicle, which relates to the field of ships, in particular to a method for determining the path of the unmanned surface vehicle, wherein when the unmanned surface vehicle executes patrol tasks in a designated area, suspicious targets invade and need to be intercepted before the unmanned surface vehicle autonomously plans a route, and the requirement of short-time constraint is put forward on the path planning of the unmanned surface vehicle. The unmanned ship carries out data arrangement on the hull in the early period to form a performance database, and after surrounding situation is constructed through other sensors, constraints such as boundary conditions of unmanned ship paths are provided. The established unmanned ship kinematics model can calculate the motion trail and obtain the optimal solution for the path planning equation time. And then, by constructing an unmanned ship dynamic model, obtaining the corresponding relation between the hull control parameters and the hull motion trail, and then butting the corresponding relation with the kinematic model, so that the relation between the hull control parameters based on short-time constraint and the planned path can be obtained. The unmanned ship can achieve the purpose of reaching the vicinity of the target at the fastest speed by adjusting the ship body control parameters according to the path planning method.
Description
Technical Field
The invention relates to autonomous path planning capability of an unmanned surface vehicle, in particular to a path meeting certain evaluation criteria under an environment situation with obstacles, which is searched to safely reach a target designated point from a starting point.
Background
The autonomous path planning capability of the unmanned surface vehicle is an important index for judging the performance of the unmanned surface vehicle, namely, a path meeting a certain evaluation standard is searched under the environment situation with obstacles, so that the path can safely reach a target designated point from a starting point. Due to the application background and the particularity of the application scene, the unmanned ship can have high-mobility and high-timeliness tasks such as pursuing, interception and driving away, needs to quickly and autonomously control to sail to a designated area and possibly perform man-like or beyond-man limit driving actions, and accordingly can finish mission with higher quality. The characteristics of the application background, the historical mission and the like of the unmanned ship provide higher time constraint requirements for the path planning problem of the unmanned ship. In the prior art, researches on path planning of unmanned boats and unmanned aircrafts exist, and a potential field dynamic grid method, which is a global path planning method, is designed by combining the characteristics of simple structure, good real-time performance of a potential field method, simplicity and convenience in coding of a grid method and easiness in implementation of the grid method aiming at the global path planning problem of the unmanned boats. The method combines an improved potential field method with a dynamic grid method, establishes an environment model in a grid dynamic refining mode, and gradually searches for an optimal path by applying the improved potential field method so that the path precision gradually meets the precision requirement; and then, by adopting the optimization processing for reducing the broken lines, the redundant path nodes in the middle are further reduced, and finally, the output path is optimal. Simulation experiment operation results show that the method reduces the calculation complexity, can effectively avoid the problem of trapping in local minimum points, and has stronger global path planning capability.
And in the prior art, the time constraint-considered unmanned aerial vehicle flight path planning method is provided on the basis of analyzing time error distribution. The method improves the traditional flight path structure, finds the flight path which enables the time error reaching a target point to be as small as possible by a speed adjusting strategy and a time constraint driving algorithm added in a cost function, and simultaneously respectively researches different influences of three factors, namely a takeoff time error, a speed adjusting capacity and a flight speed error on the time error reaching the target point.
Technical deficiencies in the prior art also exist. Firstly, in the path planning in the prior art, an unmanned ship is taken as a particle, the influence of the performance of a ship body on the path planning is not considered, and no time constraint is added in the path planning. Secondly, the unmanned aerial vehicle track planning mainly aims at the time difference constraint of reaching a target point, namely, the specified time of reaching the specified target is met, the unmanned aerial vehicle rapidity deep research aiming at the route process is not performed, the path of the unmanned aerial vehicle is a three-dimensional space position and is different from the environment position of the unmanned ship, and therefore the path planning is different.
Disclosure of Invention
The invention provides a method for determining a path of an unmanned surface vehicle, which can provide effective support for short-time constraint when the unmanned surface vehicle executes tasks with high timeliness and high maneuverability. The unmanned ship motion performance database is formed after the unmanned ship body motion data are collected, analyzed and sorted. Calling external information such as a chart, and defining conditional constraints such as boundaries. And constructing an unmanned ship kinematics model based on a kinematics empirical formula and a hull performance database to obtain a path planning equation related to the unmanned ship and hull performance, and obtaining a path algorithm based on short-time constraint under the premise of short-time constraint, namely optimal solution of time. And constructing an unmanned boat dynamics model, representing the dynamics relation between the external load of the boat body and the movement characteristics of the boat body based on the boat body parameters of the unmanned boat, and obtaining the corresponding relation between parameters such as a certain control speed, a rudder angle and a heading angle and the movement track of the boat body. And combining a short-time constraint path planning equation to obtain a mapping relation between the unmanned ship path track based on the short-time constraint and ship body control parameters, thus obtaining the unmanned ship path planning method based on the short-time constraint.
The invention is divided into the following 6 parts:
1. collecting and sorting the boat body motion parameters of the unmanned boat to form a boat body motion performance database. The database comprises basic parameters and motion parameters of the boat body. The basic parameters comprise the main dimension, the draught, the navigational speed, the position information and the like of the ship body, and the motion parameters comprise the maximum acceleration of the ship body, the minimum turning radius, the speed drop ratio of the turning radius at different speeds, the minimum braking distance and time, the minimum starting sliding distance and time, the maximum initial angular speed, the target position and speed information and the like. The basic parameters and the motion parameters are classified and sorted, the navigational speed and the minimum turning radius parameters are mainly considered, and the minimum turning diameter is generally in direct proportion to the navigational speed.
2. Calling external information such as a chart, and defining conditional constraints such as boundaries. The external information represented by the chart can represent the situation environment of the task area, provide a data base for the pre-planned path, and define the limit constraints such as the boundary in the path. The information of obstacles such as the size of a navigation area and an island lighthouse is mainly considered.
3. And constructing a kinematics model of the unmanned ship based on a kinematics empirical formula and a ship body movement performance database. The unmanned ship kinematics model mainly comprises parameters such as ship body sailing time, sailing speed, turning radius, turning speed-reduction ratio, initial angular speed, target position and speed, task area situation composition and the like, and fully adds basic parameters and motion parameters of the unmanned ship under the condition of meeting the condition of traversing task areas, thereby exerting the operability and high maneuverability of the unmanned ship. Mainly considering the ratio of the navigation speed, the turning radius and the turning speed drop in a given navigation area, wherein the speed drop ratio is generally in inverse proportion to the turning radius.
4. And establishing an unmanned ship path planning equation, and obtaining a path algorithm based on short-time constraint under the short-time constraint condition. The unmanned ship path planning equation can be established through the established unmanned ship kinematics model under the premise of containing the parameters, namely the unmanned ship path planning equation
L＝Ф(a，t，v，r，θ，k)
L represents a task area path distance;
a represents a hull acceleration parameter;
t represents a hull voyage time parameter;
v represents a predetermined sailing speed parameter of the hull;
r represents a hull turning radius parameter;
theta represents a hull heading angle parameter;
k represents a slewing speed-reduction ratio parameter;
the planned path distance is a complex function related to various parameters such as acceleration, speed, time, turning radius, initial angle, speed-reduction ratio and the like, a hull kinematics performance database stores and analyzes data of the parameters, the minimum value of the time t is optimized on the basis of calling the data, and then a path algorithm based on short-time constraint is obtained. The larger the acceleration, the smaller the radius of gyration, and the shorter the time.
5. And (3) constructing an unmanned boat dynamic model, and representing the dynamic relation between the external load of the boat body and the motion characteristics of the boat body. Under the action of hydrodynamic control, the unmanned boat has a corresponding relation between external load input and boat body response motion, and if the unmanned boat is under a certain condition, rudder angle control and accelerator control correspond to a corresponding unmanned boat body motion rule. Corresponding data information is extracted from the submarine body kinematics database, and the corresponding relation between the motion trail of the unmanned ship and the motion control parameters can be obtained through iterative combination calculation of simulation and theoretical calculation. The response relation between input throttle and rudder angle parameters and a boat body is mainly considered. Generally speaking, the larger the throttle value and the larger the rudder angle, the better the corresponding speed and maneuvering performance of the hull.
6. And (4) interfacing the kinematic model and the dynamic model to obtain the unmanned ship path planning method based on short-time constraint. The dynamic model can obtain the corresponding relation between the motion trail of the unmanned ship and the motion control parameters, the kinematic model can obtain a path algorithm based on short-time constraint, a planned path in the kinematic model is input to the motion trail of the dynamic model, and the mapping relation between the unmanned ship path trail based on the short-time constraint and the ship body control parameters can be obtained, so that the unmanned ship path planning method based on the short-time constraint is obtained. The method for determining the path plan specifically comprises the following steps:
a method for determining the path of an unmanned surface vehicle is provided, which comprises the following steps:
firstly, acquiring a hull motion parameter of the unmanned ship; the motion parameters comprise the maximum navigational speed and the minimum turning radius of the boat;
secondly, the motion parameters are arranged into a unmanned boat body motion performance database;
thirdly, calling sea chart information, and defining boundary condition constraints by combining the sea chart information with the hull performance database;
fourthly, constructing a kinematics model of the unmanned boat body, wherein the kinematics model comprises the sailing time of the boat body, sailing speed, turning radius, turning speed-reduction ratio, heading angular speed, target position and speed and task area situation parameters and is used for representing the performance of the boat body;
fifthly, establishing a motion planning equation based on the unmanned boat body kinematic model, and obtaining a minimum optimal solution for time t on the basis of calling the boat body motion performance database to obtain a path algorithm based on short-time constraint;
sixthly, under the action of hydrodynamic control, the unmanned ship has a corresponding relation between external load input and ship body response motion, and the corresponding relation between the motion trail of the unmanned ship and motion control parameters, namely a dynamic model of the unmanned ship, can be obtained through iterative combination calculation of simulation and theoretical calculation;
seventhly, analyzing the external load input in the sixth step corresponding to the hull, entering the eighth step if the use condition and the performance parameter range of the hull are met, and entering the fourth step again for parameter modification if the condition is not met;
and eighthly, butting the kinematics model of the unmanned ship hull with the dynamics model of the unmanned ship to obtain a mapping relation between the unmanned ship path track based on short-time constraint and the ship hull control parameters, and thus obtaining the unmanned ship path planning method based on short-time constraint.
The technical scheme has the following effects:
when the unmanned ship needs to quickly reach a designated area for operation, the unmanned ship can fully exert the performance of the ship through the time constraint-based water surface unmanned ship path planning method, can reach a destination in the shortest time to start operation under the constraint of limited external conditions, wins the opportunity in the change of the instantaneously changeable environment situation, can execute various kinds of man-like driving and super-man driving control actions by the high-mobility water surface unmanned ship, and effectively ensures the problems of personnel safety and personnel adaptability of the man-driving.
Drawings
FIG. 1 is a flow chart of path planning
Detailed Description
The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
The flow of the method of how the invention determines the path of the surface unmanned boat is depicted in figure 1,
firstly, collecting ship characteristic parameters such as maximum acceleration, minimum turning radius, braking time and braking distance of the unmanned ship hull, and forming an unmanned ship performance database.
Secondly, after the unmanned ship receives a path planning task and the unmanned ship receives a path planning command, the sea chart information is called to carry out environment modeling, and constraints such as boundary conditions are defined.
And thirdly, constructing an unmanned ship kinematics model, establishing a specific unmanned ship kinematics equation, and obtaining a path algorithm based on short-time constraint.
Fourthly, the unmanned ship dynamic model represents the relation between the external load of the hull and the motion characteristic of the hull mainly through the hull parameters of the unmanned ship.
And fifthly, analyzing the external load input of the dynamic model corresponding to the hull, if the using condition and the performance parameter range of the hull are met, generating a short-time constrained unmanned ship path planning method, and if the condition is not met, reentering the kinematic model for parameter modification.
The flow of the method for determining the unmanned surface vehicle path described in fig. 1 may be specifically detailed as follows:
firstly, acquiring a hull motion parameter of the unmanned ship; the motion parameters comprise the maximum acceleration and the minimum turning radius of the boat;
secondly, the motion parameters are arranged into a unmanned boat body motion performance database;
thirdly, calling sea chart information, and combining the sea chart information with the hull performance database to define boundary condition constraints;
fourthly, constructing a kinematics model of the unmanned boat body, wherein the kinematics model comprises the sailing time of the boat body, sailing speed, turning radius, turning speed-reduction ratio, heading angular speed, target position and speed and task area situation parameters and is used for representing the performance of the boat body;
fifthly, establishing a motion planning equation based on the unmanned ship hull kinematics model,
establishing an unmanned ship path planning equation, and obtaining a path algorithm based on short-time constraint under the short-time constraint condition; the unmanned ship path planning equation can be established through the established unmanned ship kinematics model under the premise of containing the parameters, namely the unmanned ship path planning equation
L＝Ф(a，t，v，r，θ，k)
L represents a task area path distance;
a represents a hull acceleration parameter;
t represents a hull voyage time parameter;
v represents a predetermined sailing speed parameter of the hull;
r represents a hull turning radius parameter;
theta represents a hull heading angle parameter;
k represents a slewing speed-reduction ratio parameter;
on the basis of calling the boat body motion performance database, taking the minimum value optimal solution for the time t to obtain a path algorithm based on short-time constraint;
sixthly, under the action of hydrodynamic control, the unmanned ship has a corresponding relation between external load input and ship body response motion, and the corresponding relation between the motion trail of the unmanned ship and motion control parameters, namely a dynamic model of the unmanned ship, can be obtained through iterative combination calculation of simulation and theoretical calculation;
seventhly, analyzing the external load input in the sixth step corresponding to the hull, entering the eighth step if the use condition and the performance parameter range of the hull are met, and entering the fourth step again for parameter modification if the condition is not met;
and eighthly, butting the kinematics model of the unmanned ship hull with the dynamics model of the unmanned ship to obtain a mapping relation between the unmanned ship path track based on short-time constraint and the ship hull control parameters, and thus obtaining the unmanned ship path planning method based on short-time constraint.
According to the technical scheme, when the unmanned ship executes patrol tasks in the designated area, suspicious targets invade, the unmanned ship needs to be intercepted before the unmanned ship autonomously plans the route, and the requirement of short-time constraint is put forward for the path planning of the unmanned ship. The unmanned ship carries out data arrangement on the hull in the early period to form a performance database, and after surrounding situation is constructed through other sensors, constraints such as boundary conditions of unmanned ship paths are provided. The established unmanned ship kinematics model can calculate the motion trail and obtain the optimal solution for the path planning equation time. And then, by constructing an unmanned ship dynamic model, obtaining the corresponding relation between the hull control parameters and the hull motion trail, and then butting the corresponding relation with the kinematic model, so that the relation between the hull control parameters based on short-time constraint and the planned path can be obtained. The unmanned ship can achieve the purpose of reaching the vicinity of the target at the fastest speed by adjusting the ship body control parameters according to the path planning method.
Claims (1)
1. A method of determining a path of an unmanned surface vehicle, comprising the steps of:
firstly, acquiring a hull motion parameter of the unmanned ship; the motion parameters comprise the maximum acceleration and the minimum turning radius of the boat;
secondly, the motion parameters are arranged into a unmanned boat body motion performance database;
thirdly, calling sea chart information, and combining the sea chart information with the hull performance database to define boundary condition constraints;
fourthly, constructing a kinematics model of the unmanned boat body, wherein the kinematics model comprises the sailing time of the boat body, sailing speed, turning radius, turning speed-reduction ratio, heading angular speed, target position and speed and task area situation parameters and is used for representing the performance of the boat body;
fifthly, establishing a motion planning equation based on the unmanned ship hull kinematics model,
establishing an unmanned ship path planning equation, and obtaining a path algorithm based on short-time constraint under the short-time constraint condition; the unmanned ship path planning equation can be established through the established unmanned ship kinematics model under the premise of containing the parameters, namely the unmanned ship path planning equation
L＝Ф(a，t，v，r，θ，k)
L represents a task area path distance;
a represents a hull acceleration parameter;
t represents a hull voyage time parameter;
v represents a predetermined sailing speed parameter of the hull;
r represents a hull turning radius parameter;
theta represents a hull heading angle parameter;
k represents a slewing speed-reduction ratio parameter;
on the basis of calling the boat body motion performance database, taking the minimum value optimal solution for the time t to obtain a path algorithm based on short-time constraint;
sixthly, under the action of hydrodynamic control, the unmanned ship has a corresponding relation between external load input and ship body response motion, and the corresponding relation between the motion trail of the unmanned ship and motion control parameters, namely a dynamic model of the unmanned ship, can be obtained through iterative combination calculation of simulation and theoretical calculation;
seventhly, analyzing the external load input in the sixth step corresponding to the hull, entering the eighth step if the use condition and the performance parameter range of the hull are met, and entering the fourth step again for parameter modification if the condition is not met;
and eighthly, butting the kinematics model of the unmanned ship hull with the dynamics model of the unmanned ship to obtain a mapping relation between the unmanned ship path track based on short-time constraint and the ship hull control parameters, and thus obtaining the unmanned ship path planning method based on short-time constraint.
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Application publication date: 20200609 |