CN113359762A - Dynamic planning method for unmanned surface vehicle - Google Patents
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- CN113359762A CN113359762A CN202110751457.6A CN202110751457A CN113359762A CN 113359762 A CN113359762 A CN 113359762A CN 202110751457 A CN202110751457 A CN 202110751457A CN 113359762 A CN113359762 A CN 113359762A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
本发明涉及一种水面无人艇动态规划方法,所述方法包括:鉴于水面无人艇在海面上碰到的动态障碍物大多为船舶,根据船舶的形状特性,对其建立椭圆模型;在建立椭圆模型基础上,对椭圆模型进行分析,确定船舶动态障碍物的影响范围,并在影响范围内构建椭圆斥力势场提供斥力,从而引导水面无人艇躲避动态障碍物;进一步考虑船舶动态障碍物运动的不稳定性和不可预测性,水面无人艇需要在短时间内避开动态障碍物,故采用变斥力系数方法,增加斥力,改变合力方向,从而达到快速引导水面无人艇避开动态障碍物的效果。
The invention relates to a dynamic planning method for a surface unmanned boat. The method includes: considering that most of the dynamic obstacles encountered by the surface unmanned boat on the sea surface are ships, establishing an elliptical model for the ship according to the shape characteristics of the ship; On the basis of the ellipse model, the ellipse model is analyzed to determine the influence range of the ship's dynamic obstacles, and an elliptical repulsion potential field is constructed within the influence range to provide repulsion, so as to guide the surface UAV to avoid the dynamic obstacles; further consider the ship's dynamic obstacles Due to the instability and unpredictability of motion, surface unmanned boats need to avoid dynamic obstacles in a short period of time, so the method of variable repulsion coefficient is used to increase the repulsion force and change the direction of the resultant force, so as to quickly guide the surface unmanned boat to avoid dynamic obstacles. The effect of obstacles.
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114077255A (en) * | 2021-11-22 | 2022-02-22 | 江苏理工学院 | A Way-finding Method for Intelligent Vehicles Based on Ellipse Model Artificial Potential Field Method |
CN115562291A (en) * | 2022-10-19 | 2023-01-03 | 哈尔滨理工大学 | Path planning method for improving potential field dynamic coefficient based on artificial potential field method |
Citations (6)
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2021
- 2021-07-02 CN CN202110751457.6A patent/CN113359762B/en active Active
Patent Citations (6)
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Non-Patent Citations (3)
Title |
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JIANFA WU 等: "Obstacle Avoidance Based on Virtual Repulsive Potential Fields under Limited Perceptions", 《2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)》 * |
刘琨 等: "基于改进人工势场法的无人船路径规划算法", 《海南大学学报自然科学版》 * |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114077255A (en) * | 2021-11-22 | 2022-02-22 | 江苏理工学院 | A Way-finding Method for Intelligent Vehicles Based on Ellipse Model Artificial Potential Field Method |
CN114077255B (en) * | 2021-11-22 | 2023-07-18 | 江苏理工学院 | A Pathfinding Method for Intelligent Vehicles Based on Ellipse Model Artificial Potential Field Method |
CN115562291A (en) * | 2022-10-19 | 2023-01-03 | 哈尔滨理工大学 | Path planning method for improving potential field dynamic coefficient based on artificial potential field method |
CN115562291B (en) * | 2022-10-19 | 2023-12-12 | 哈尔滨理工大学 | Path planning method to improve dynamic coefficient of potential field based on artificial potential field method |
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Effective date of registration: 20241121 Address after: Room A2-6924, No. 58 Fumin Branch Road, Hengsha Township, Chongming District, Shanghai, 201914 (Shanghai Hengtai Economic Development Zone) Patentee after: Shanghai Tongtong Business Consulting Center (Limited Partnership) Country or region after: China Address before: 150080 Harbin University of Science and Technology, Harbin Road, Nangang District, Heilongjiang, 52 Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY Country or region before: China |
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Effective date of registration: 20241126 Address after: 150000, Ship Building 1207, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin ship Intelligent Equipment Technology Co.,Ltd. Country or region after: China Address before: Room A2-6924, No. 58 Fumin Branch Road, Hengsha Township, Chongming District, Shanghai, 201914 (Shanghai Hengtai Economic Development Zone) Patentee before: Shanghai Tongtong Business Consulting Center (Limited Partnership) Country or region before: China |