CN112925321B - Ship path planning method and device based on artificial potential field method and storage medium - Google Patents

Ship path planning method and device based on artificial potential field method and storage medium Download PDF

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CN112925321B
CN112925321B CN202110102049.8A CN202110102049A CN112925321B CN 112925321 B CN112925321 B CN 112925321B CN 202110102049 A CN202110102049 A CN 202110102049A CN 112925321 B CN112925321 B CN 112925321B
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ship
waypoint
cluster
potential field
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CN112925321A (en
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刘佳仑
秦祥祥
李诗杰
韩成浩
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

Abstract

The invention discloses a ship path planning method, a device and a storage medium based on an artificial potential field method. The invention can enable the ship cluster to form a flexible ship formation, can keep the integral running of the ship cluster to be unified and coordinated, has good real-time performance, avoids the collision between the ships and the barriers, and keeps higher flexibility and autonomy of each ship. The invention is widely applied to the technical field of water transportation.

Description

Ship path planning method and device based on artificial potential field method and storage medium
Technical Field
The invention relates to the technical field of water transportation, in particular to a ship path planning method, a ship path planning device and a storage medium based on an artificial potential field method.
Background
In the field of water transportation, due to the limited operation capacity of a single ship, the operation is generally carried out in a multi-ship formation mode so as to improve the operation efficiency and the operation capacity. However, the multi-ship formation mode introduces factors such as path planning of multiple ships, mutual collision of internal ships, collision of ships with obstacles and the like, and the factors are mutually interwoven, so that the ship path planning of the multi-ship formation becomes complicated, and the prior art lacks a ship path planning technology of the multi-ship formation which simultaneously considers the factors.
Disclosure of Invention
In view of at least one of the above technical problems, an object of the present invention is to provide a ship path planning method, apparatus and storage medium based on an artificial potential field method.
In one aspect, an embodiment of the present invention includes a ship path planning method based on an artificial potential field method, which is used for performing path planning on a ship cluster composed of a plurality of ships, and the ship path planning method based on the artificial potential field method includes:
acquiring a driving path of a ship and a plurality of ordered waypoints on the driving path;
sequentially carrying out at least one local path navigation until the distance between the position of the cluster center of the ship cluster and the driving path terminal point is less than a preset threshold value; selecting a target waypoint from the waypoints according to the current position of the cluster center of the ship cluster during the local path navigation, establishing an artificial potential field of each ship in the ship cluster, executing local path planning according to each artificial potential field to obtain a local path corresponding to each ship, and updating the position of the cluster center of the ship cluster according to the position of each ship after the local path corresponding to each ship runs.
Further, the acquiring a driving path of a ship and a plurality of ordered waypoints on the driving path includes:
carrying out global path planning on a static map to obtain the driving path;
and selecting each waypoint on the driving path according to the fixed distance difference or the fixed coordinate difference.
Further, the global path planning is an artificial potential field method, an a-x algorithm or an RRT algorithm.
Further, the selecting a target waypoint from the plurality of waypoints according to the current position of the cluster center of the ship cluster includes:
determining a first waypoint and a second waypoint from a plurality of the waypoints; wherein the first waypoint and second waypoint are two adjacent waypoints closest to a current location of the cluster center, the second waypoint being subsequent to the first waypoint;
drawing a vertical line from the current position of the cluster center to a connecting line of the first waypoint and the second waypoint;
when the foot of the perpendicular line is positioned between the first waypoint and the second waypoint or on the first waypoint, taking the second waypoint as the target waypoint;
when the foot of the perpendicular line is positioned on the reverse extension line of the connecting line of the first waypoint and the second waypoint, taking the first waypoint as the target waypoint;
when the foot of the perpendicular line is positioned on the forward extension line of the connecting line of the first waypoint and the second waypoint or the second waypoint, taking a third waypoint as the target waypoint; the third waypoint is a waypoint subsequent to and adjacent to the second waypoint.
Further, the establishing an artificial potential field of each ship in the ship cluster comprises:
establishing an artificial potential field function of each ship; the artificial potential field function is determined by a cluster potential field, an inter-ship repulsive force field and an obstacle repulsive force field; the cluster potential field is used for restraining ships in the ship cluster to approach the target waypoint and keep a distance with the target waypoint, the inter-ship repulsive force potential field is used for restraining ships in the ship cluster to keep a safe distance, and the obstacle repulsive force potential field is used for restraining the ships in the ship cluster to keep a safe distance with the obstacle.
Further, the artificial potential field function is
Figure BDA0002916029980000021
Wherein the content of the first and second substances,
Figure BDA0002916029980000022
for the purpose of said clustered potential field,
Figure BDA0002916029980000023
for the ith ship V in the ship clusteriAnd the jth ship VjThe inter-ship repulsive force potential field therebetween,
Figure BDA0002916029980000024
for the ith ship V in the ship clusteriPotential field of obstacle repulsive force, k, with obstaclei、po、qiIs a positive coefficient.
Further, the air conditioner is provided with a fan,
Figure BDA0002916029980000025
Figure BDA0002916029980000026
wherein k isi1、ki2、ki3Is a positive coefficient of the coefficient,
Figure BDA0002916029980000027
for the ith ship V in the ship clusteroDistance to the target waypoint, (x)i,yi) For the ith ship ViOf the current position, WPoIs the target waypoint, σoThe minimum distance between a ship in the ship cluster and the target waypoint;
Figure BDA0002916029980000028
Figure BDA0002916029980000029
wherein the content of the first and second substances,
Figure BDA0002916029980000031
for the ith ship V in the ship clusteriTo jth vessel VjA distance of ri jIs composed of
Figure BDA0002916029980000032
The lower limit of (a) is,
Figure BDA0002916029980000033
is composed of
Figure BDA0002916029980000034
The upper limit of (d);
Figure BDA0002916029980000035
Figure BDA0002916029980000036
wherein
Figure BDA0002916029980000037
For the ith ship V in the ship clusteriDistance to obstacle, ri obIs composed of
Figure BDA0002916029980000038
The lower limit of (a) is,
Figure BDA0002916029980000039
is composed of
Figure BDA00029160299800000310
The upper limit of (3).
Further, the cluster center of the ship cluster is a geometric center of distribution of all ship positions in the ship cluster.
In another aspect, an embodiment of the present invention further includes a computer device, including a memory and a processor, where the memory is used to store at least one program, and the processor is used to load the at least one program to perform the artificial potential field method-based ship path planning method in the embodiment.
In another aspect, the present invention further includes a storage medium, in which a program executable by a processor is stored, and when the program executable by the processor is executed by the processor, the program is configured to perform the method for planning a ship path based on an artificial potential field method in the embodiment.
The invention has the beneficial effects that: according to the ship path planning method based on the artificial potential field method, a ship cluster can form a flexible ship formation, unified and coordinated running of the whole ship cluster can be kept, good real-time performance is achieved, collision between ships and between the ships and obstacles is avoided, and each ship in the ship cluster keeps high flexibility and autonomy, so that the requirement on the operating uniformity of each ship can be lowered, and high cost caused by the fact that more hardware or software systems are arranged is avoided.
Drawings
FIG. 1 is a block diagram of a nose bridge strip material condition detection system in an embodiment;
FIG. 2 is a flow chart of a ship path planning method based on an artificial potential field method in the embodiment;
fig. 3 is a schematic diagram of a target waypoint selection rule in the embodiment.
Detailed Description
In this embodiment, referring to fig. 1, a ship path planning method based on an artificial potential field method includes the following steps:
s1, acquiring a driving path of a ship and a plurality of ordered waypoints on the driving path;
and S2, sequentially carrying out local path navigation at least once until the distance between the position of the cluster center of the ship cluster and the end point of the driving path is less than a preset threshold value.
When step S1 is executed, the ships form a ship cluster in which m ships V are present1，V2，…，VmEach ship is at a position P1，P2，…，PmIn which P isi＝(xi，yi)，i＝1，2，…，m。
And (3) carrying out global path planning on a static map of a ship formation navigation area, specifically, carrying out global path planning through an algorithm such as an artificial potential field method, an A-star algorithm or an RRT algorithm and the like, and determining a driving path and a starting point and an end point thereof. Selecting an waypoint at every other fixed distance from the starting point of the driving path, or selecting an waypoint at every other fixed longitude or latitude difference, thereby taking out a series of ordered waypoints WP on the driving path1，WP2，…，WPn，WPi＝ (xwpi，ywpi) I is 1, 2, …, n. In this embodiment, the waypoint selection may follow a high density principle, i.e., the distance between adjacent waypoints is relatively small,so that it can meet the requirement of fast iterative clustering.
In step S2, at least one local route voyage is executed, the local route of the local route voyage is obtained by local route planning in each local route voyage process, each ship runs according to the corresponding local route, the position of each ship is changed, correspondingly, the position of the cluster center of the ship cluster is also changed, thereby realizing the updating of the position of the cluster center of the ship cluster, after the local path navigation is executed, judging whether the ship cluster finishes the running on the running path or not, and if so, ending the navigation, and if not, executing the next local path navigation.
Since the principle of each partial path voyage is similar, the principle of one partial path voyage thereof can be explained.
Referring to fig. 1, in one of the local path voyages, a target waypoint is selected among a plurality of waypoints according to the current position of the cluster center of the ship cluster. In this embodiment, the cluster center of the ship cluster is a geometric center of all ship positions in the ship cluster, that is, the coordinate of the cluster center CP is
Figure BDA0002916029980000041
Satisfy the requirement of
Figure BDA0002916029980000042
Figure BDA0002916029980000043
Specifically, referring to fig. 2, a first waypoint WP closest to a cluster center CP of a ship cluster is determined from a plurality of waypoints according to a current position of the cluster center CP of the ship clusteriAnd a second waypoint WPi+1From the current position of the cluster center CP to the first waypoint WPiAnd a second waypointPoint WPi+1The connecting line of the vertical line is taken as a vertical line. According to the CP and the first waypoint WP of the cluster centeriAnd a second waypoint WPi+1The three cases shown in fig. 2 will occur due to the difference in the relative positional relationship of (a):
(1) if the foot of the perpendicular line is located at the first waypoint WPiAnd a second waypoint WPi+1Between or first waypoint WPiUpper, i.e. in the case of the middle vertical line in fig. 2, as second waypoint WPi+1As target waypoints WPo；
(2) If the foot of the perpendicular line is located at the first waypoint WPiAnd a second waypoint WPi+1On the reverse extension of the line of connection, i.e. in the case of the left vertical line in fig. 2, with the first waypoint WPiAs target waypoints WPo；
(3) If the foot of the perpendicular line is located at the first waypoint WPiAnd a second waypoint WPi+1On the forward extension of the connection line or a second waypoint WPi+1Upper, i.e. in the case of the vertical line on the right in fig. 2, as third waypoint WPi+2As a target waypoint, wherein the third waypoint WPi+2Is at a second waypoint WPi+1Then and with the second waypoint WPi+1Adjacent waypoints WPo。
The principle of the target waypoint selection rule determined in the above (1) to (3) is shown in fig. 3. Through the target waypoint selection rules determined in the above (1) to (3), the ship cluster can be advanced along the direction as close as possible to the tangent of the travel path, so that the actual travel track of the ship cluster is closer to the track of the travel path.
After the target waypoint in the local path navigation is determined, the artificial potential field of each ship in the ship cluster is established. For the ith ship V in the ship clusteriCorresponding to an artificial potential field function of
Figure BDA0002916029980000051
Figure BDA0002916029980000052
Wherein k isi、pi、qiIs a positive coefficient of the coefficient,
Figure BDA0002916029980000053
in order to cluster the potential field,
Figure BDA0002916029980000054
for the ith ship V in the ship clusteriAnd the jth ship VjThe inter-ship repulsive force potential field therebetween,
Figure BDA0002916029980000055
for the ith ship V in the ship clusteriThe obstacle repulsive force potential field with an obstacle, i.e. the artificial potential field of a vessel in this embodiment, is a weighted sum of the cluster potential field, the inter-vessel repulsive force potential field and the obstacle repulsive force potential field of the vessel. Specifically, the method comprises the following steps:
Figure BDA0002916029980000056
Figure BDA0002916029980000057
wherein k isi1、ki2、ki3Is a positive coefficient of the coefficient,
Figure BDA0002916029980000058
for the ith ship V in the ship clusteriDistance to target waypoint, (x)i，yi) For the ith ship ViCoordinates of the current position of (a);
Figure BDA0002916029980000059
Figure BDA00029160299800000510
wherein the content of the first and second substances,
Figure BDA00029160299800000511
for the ith ship V in the ship clusteriTo jth vessel VjA distance of ri jIs composed of
Figure BDA00029160299800000512
The lower limit of (a) is,
Figure BDA00029160299800000513
is composed of
Figure BDA00029160299800000514
An upper limit of (d);
Figure BDA00029160299800000515
Figure BDA00029160299800000516
wherein
Figure BDA00029160299800000517
For the ith ship V in the ship clusteriDistance to obstacle, ri obIs composed of
Figure BDA00029160299800000518
The lower limit of (a) is,
Figure BDA00029160299800000519
is composed of
Figure BDA00029160299800000520
The upper limit of (3).
In the above formula, the meaning of the cluster potential field is: attract the ship in the ship cluster to the target waypoint WPoApproaching and contacting target waypoints WPoHolding distance sigmaiThereby forming a formation cluster; the significance of the repulsive force potential field between the ships is: holding the ith ship ViTo the jth ship VjThe safety distance between the two parts is used for avoiding collision; the significance of the obstacle repulsive force potential field is: holding the ith ship ViThe safe distance between the ship and the obstacle avoids collision, and the obstacle can be used for navigating all obstacles in the water area, including static obstacles and ships in non-ship clusters.
After the artificial potential field of each ship in the ship cluster is determined, local path planning is respectively executed on each artificial potential field, so that a local path corresponding to each ship is obtained, specifically, a total of m local paths are obtained because m ships are in the ship cluster. And controlling each ship to run according to the corresponding local path, and changing the position of each ship, so that the position of the cluster center of the ship cluster is changed, and the position of the cluster center of the ship cluster is updated.
The ship path planning method based on the artificial potential field method in the embodiment can enable the ship cluster to form a flexible ship formation, can keep the integral running of the ship cluster to be unified and coordinated, has good real-time performance, avoids collision between ships and between the ships and obstacles, and keeps higher flexibility and autonomy of each ship in the ship cluster, so that the requirement on the operating uniformity of each ship can be reduced, and the high cost caused by setting more hardware or software systems is avoided.
The ship path planning method based on the artificial potential field method in this embodiment may be executed by writing a computer program for executing the ship path planning method based on the artificial potential field method in this embodiment, writing the computer program into a computer device or a storage medium, and executing the ship path planning method based on the artificial potential field method in this embodiment when the computer program is read out to run.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, etc. used in the present disclosure are only relative to the mutual positional relationship of the constituent parts of the present disclosure in the drawings. As used in this disclosure, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this embodiment, the term "and/or" includes any combination of one or more of the associated listed items.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "or the like), provided with respect to this embodiment is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, operations of processes described in this embodiment can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described in this embodiment (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described in this embodiment includes these and various other types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described in the present embodiment to convert the input data to generate output data that is stored to a non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.

Claims (8)

1. A ship path planning method based on an artificial potential field method is used for planning paths of a ship cluster consisting of a plurality of ships, and is characterized in that the ship path planning method based on the artificial potential field method comprises the following steps:
acquiring a driving path of a ship and a plurality of ordered waypoints on the driving path;
sequentially carrying out at least one local path navigation until the distance between the position of the cluster center of the ship cluster and the driving path terminal point is less than a preset threshold value; selecting a target waypoint from a plurality of waypoints according to the current position of a cluster center of the ship cluster during the local path navigation, establishing an artificial potential field of each ship in the ship cluster, executing local path planning according to each artificial potential field to obtain a local path corresponding to each ship, and updating the position of the cluster center of the ship cluster according to the position of each ship after the local path corresponding to each ship runs;
the cluster center of the ship cluster is a geometric center of all ship position distribution in the ship cluster;
selecting a target waypoint from the waypoints according to the current position of the cluster center of the ship cluster, comprising:
determining a first waypoint and a second waypoint from a plurality of the waypoints; wherein the first waypoint and second waypoint are two adjacent waypoints closest to a current location of the cluster center, the second waypoint being subsequent to the first waypoint;
drawing a vertical line from the current position of the cluster center to a connecting line of the first waypoint and the second waypoint;
when the foot of the perpendicular line is positioned between the first waypoint and the second waypoint or on the first waypoint, taking the second waypoint as the target waypoint;
when the foot of the perpendicular line is positioned on the reverse extension line of the connecting line of the first waypoint and the second waypoint, taking the first waypoint as the target waypoint;
when the foot of the perpendicular line is positioned on the forward extension line of the connecting line of the first waypoint and the second waypoint or the second waypoint, taking a third waypoint as the target waypoint; the third waypoint is a waypoint subsequent to and adjacent to the second waypoint.
2. The method for planning a ship path based on an artificial potential field method according to claim 1, wherein the acquiring a driving path of a ship and a plurality of ordered waypoints on the driving path comprises:
carrying out global path planning on a static map to obtain the driving path;
and selecting each waypoint on the driving path according to the fixed distance difference or the fixed coordinate difference.
3. The artificial potential field method-based ship path planning method according to claim 2, wherein the global path planning is an artificial potential field method, an a-x algorithm or an RRT algorithm.
4. The artificial potential field method-based ship path planning method according to claim 1, wherein the establishing of the artificial potential field of each ship in the ship cluster comprises:
establishing an artificial potential field function of each ship; the artificial potential field function is determined by a cluster potential field, an inter-ship repulsive force field and an obstacle repulsive force field; the cluster potential field is used for restraining ships in the ship cluster to approach the target waypoint and keep a distance with the target waypoint, the inter-ship repulsive force potential field is used for restraining ships in the ship cluster to keep a safe distance, and the obstacle repulsive force potential field is used for restraining the ships in the ship cluster to keep a safe distance with the obstacle.
5. The method for planning ship path based on artificial potential field method of claim 4, wherein the artificial potential field function is
Figure FDA0003353571460000021
Wherein the content of the first and second substances,
Figure FDA0003353571460000022
for the purpose of said clustered potential field,
Figure FDA0003353571460000023
for the ith ship V in the ship clusteriAnd the jth ship VjThe inter-ship repulsive force potential field therebetween,
Figure FDA0003353571460000024
for the ith ship V in the ship clusteriPotential field of obstacle repulsive force, k, with obstaclei、pi、qiIs a positive coefficient; and m is the number of ships in the ship cluster.
6. The artificial potential field method-based ship path planning method according to claim 5, characterized in that:
Figure FDA0003353571460000025
Figure FDA0003353571460000026
wherein k isi1、ki2、ki3Is a positive coefficient of the coefficient,
Figure FDA0003353571460000027
for the ith ship V in the ship clusteriDistance to the target waypoint, (x)i,yi) For the ith ship ViOf the current position, WPoIs the target waypoint, σiThe minimum distance between a ship in the ship cluster and the target waypoint;
Figure FDA0003353571460000028
Figure FDA0003353571460000029
wherein the content of the first and second substances,
Figure FDA00033535714600000210
for the ith ship V in the ship clusteriTo jth vessel VjA distance of ri jIs composed of
Figure FDA00033535714600000211
Lower limit of (2), Ri jIs composed of
Figure FDA00033535714600000212
The upper limit of (d);
Figure FDA00033535714600000213
Figure FDA00033535714600000214
wherein d isi obFor the ith ship V in the ship clusteriDistance to obstacle, ri obIs di obLower limit of (2), Ri obIs di obThe upper limit of (3).
7. A computer arrangement comprising a memory for storing at least one program and a processor for loading the at least one program to perform the artificial potential field method based vessel path planning method of any one of claims 1-6.
8. A storage medium having stored therein a program executable by a processor, wherein the program executable by the processor is adapted to perform a method for artificial potential field based vessel path planning as claimed in any one of claims 1 to 6 when executed by the processor.
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