CN114019967A - Unmanned ship route planning method suitable for long and narrow channel - Google Patents
Unmanned ship route planning method suitable for long and narrow channel Download PDFInfo
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- CN114019967A CN114019967A CN202111271868.1A CN202111271868A CN114019967A CN 114019967 A CN114019967 A CN 114019967A CN 202111271868 A CN202111271868 A CN 202111271868A CN 114019967 A CN114019967 A CN 114019967A
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Abstract
The invention relates to an unmanned ship route planning method suitable for a long and narrow channel, which comprises the following steps: 1. preprocessing channel data, and extracting coordinate information of discrete points of left and right bank boundaries of a channel; 2. establishing a Delaunay triangulation network by taking the discrete point coordinate data extracted in the step 1 as a connecting line endpoint and a shoreline as a constraint side to form a set of triangle sides, removing the triangle sides contained on the unilateral constraint shoreline from the set of triangle sides, obtaining the feature points on the rest triangle sides, sequencing and sequentially connecting the feature points according to the direction of the channel to obtain a channel feature line; 3. and optimizing the extracted channel characteristic line by using an area method, removing redundant route points from the channel characteristic line, and taking the optimized route as an actual route of the unmanned ship. The invention solves the problem of unmanned ship route planning in a narrow navigation environment.
Description
Technical Field
The invention belongs to the field of intelligent navigation of unmanned boats, and particularly relates to an unmanned boat route planning method suitable for a long and narrow channel.
Background
Due to the characteristics of modularization, unmanned and intellectualization of the unmanned ship, the unmanned ship is not only applied to the military field, but also widely applied to civil fields such as marine environment monitoring, search and rescue and the like. The course planning is the core content of the unmanned ship autonomous navigation technology, is the basis of unmanned ship trajectory tracking and motion control, and mainly aims to plan an optimal safe course under the known static environment according to the task requirement and provide macroscopic path guidance. Before entering a task water area, the unmanned ship navigates according to a planned route, acquires surrounding environment information through an onboard sensor in the process of navigating, adjusts a local route, and finally reaches a specified target point along a set route. At present, many researches are made on unmanned ship route planning problems at home and abroad, and many achievements are obtained, but the research on narrow and long channel application scenes is less.
The narrow and long channel is scattered in rivers and narrow channels at sea at home and abroad, has the characteristics of small curvature radius, narrow channel width, strong diagonal flow and the like, and is a difficult navigation section for unmanned boat navigation. The long and narrow channel is more complex relative to the open water area, the navigation environment is limited by factors such as the water area shoreline and the like, and the navigation range is narrower, so that higher requirements are provided for the route planning of the unmanned boat on the long and narrow channel. The A-algorithm is a heuristic search algorithm widely applied, an expansion node is selected and guided by adopting a cost function, the cost function comprises a heuristic function and an actual path cost, the advantages of depth-first search and breadth-first search are combined, the method can be used for solving the problem of route planning in a small-range water area, but the algorithm has the characteristics of heuristics and greediness, a search path can possibly follow the edges of a water area shoreline, an obstacle and the like, a safety distance is not reserved, a grid environment model is established based on an electronic channel map, planned route points are limited by grids, route smoothness does not meet the unmanned ship navigation control requirement, and the method is difficult to execute for unmanned ships.
Disclosure of Invention
The invention aims to provide an unmanned ship route planning method applicable to a long and narrow channel, which is used for planning a safe route capable of being executed by an unmanned ship between any two points in the channel through automatic calculation and analysis of a computer according to the prior boundary data of the given long and narrow channel.
The above object of the present invention is achieved by the following technical solutions:
a method for planning unmanned ship routes suitable for long and narrow channels is characterized by comprising the following steps: the method comprises the following steps:
step 1, preprocessing channel data, and extracting coordinate information of discrete points of left and right bank boundaries of a channel;
step 2, taking the discrete point coordinate data extracted in the step 1 as a connecting line endpoint, taking a shoreline as a constraint side to establish a Delaunay triangulation network to form a set of triangular sides, removing the triangular sides contained on the unilateral constraint shoreline from the set of triangular sides, obtaining the feature points on the remaining triangular sides, sequencing and sequentially connecting the feature points according to the direction of the navigation channel to obtain the navigation channel feature line;
and 3, optimizing the obtained channel characteristic line by using an area method, judging and selecting necessary turning route points on the characteristic line according to the calculated accumulated area value based on the principle that half of a model of an outer product of vectors is the area of a triangle formed by two vectors from the starting point of the channel characteristic line, removing redundant route points from the channel characteristic line, sequencing and sequentially connecting the reserved characteristic points again according to the direction of the channel to obtain the optimized channel characteristic line, wherein the optimized route is used as the actual route of the unmanned ship.
Further: in step 2, selecting the middle point of each side or the point which is on each triangle side and is wider than the starboard shore line 1/4 from the remaining feature points on each triangle side.
Further: the specific steps of the step 3 are as follows:
step 3.1, sequentially taking three continuous route points backwards from the starting point of the channel characteristic line, and calculating the area of a triangle formed by the current three route points;
step 3.2, comparing the calculated area with a set threshold, if the calculated area is larger than the given threshold, judging that the middle waypoint is a necessary turning waypoint and storing the necessary turning waypoint, synchronously and sequentially pushing the three waypoints backwards by one bit, clearing the calculated area, and continuously calculating and interpreting the area of the triangle; if the calculated area is less than or equal to the given threshold, judging that the middle waypoint is an unnecessary turning waypoint and deleting the middle waypoint, sequentially pushing the two rear waypoints backwards by one bit, keeping the front waypoint unchanged, and continuously calculating and judging the triangular area under the condition that the calculated area is accumulated until the accumulated area is greater than the given threshold, and sequentially and synchronously moving the three waypoints backwards;
3.3, repeating the operation of the step 2 until all the waypoints are traversed;
and 3.4, sequentially connecting the starting point, the reserved necessary turning route point and the end point of the channel characteristic line according to the channel direction to form the optimized channel characteristic line.
The invention has the advantages and positive effects that:
1. the method is based on boundary data of the left bank and the right bank of the channel, obtains channel characteristic lines through a Delaunay triangulation network under the condition of establishing constraint in step 2, plans the route according to different geographic characteristics of the long and narrow channel, considers the safety distance between the reserved unmanned ship and the shore line, and is suitable for solving the problem of unmanned ship route planning in the narrow navigation environment.
2. In the method, the extracted channel characteristic line is optimized by using an area method in the step 3, the smoothness of a planned route in a long and narrow channel is improved by deleting redundant route points, and the optimized route can be used as an actual executable route of the unmanned ship. In addition, the time complexity of the route optimization algorithm is O (n), wherein n is the number of route points, and the route optimization efficiency is improved.
Drawings
FIG. 1 is an optimized front channel feature line generated by an embodiment of the present invention;
fig. 2 is an optimized channel characteristic line generated by the embodiment of the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It is to be understood that this embodiment is illustrative and not restrictive.
A method for planning unmanned ship routes suitable for long and narrow channels comprises the following steps:
step 1, channel data preprocessing is carried out, and coordinate information (namely longitude and latitude of points) of discrete points of left and right bank boundaries of a channel is extracted. Specifically, according to the trend of the actual navigation channel and different application scenes, coordinate information data of the bank point can be extracted from an electronic chart, a map or other carriers.
And 2, extracting the characteristic lines of the navigation channel based on the Delaunay triangular skeleton lines.
The method comprises the following specific steps:
2.1 establishing a Delaunay triangulation network by taking the coordinate data of the discrete points extracted in the step 1 as connecting end points and a shoreline as a constraint edge, and ensuring that the Delaunay triangulation network is established in the long and narrow channel;
2.2 there are two kinds of triangle sides obtained after the triangle network is established, one is that two points of the side are respectively positioned on the left and right shoreline constraint sides, the other is that the side is included on the single-side shoreline constraint side, and aiming at the two kinds of situations, the triangle side included on the single-side shoreline constraint side is removed from the set of the triangle sides;
and 2.3, obtaining the feature points on the rest triangle edges, sequencing the feature points according to the direction of the channel and sequentially connecting the feature points to obtain the channel feature line. Different channel characteristic lines are set for the long and narrow channel according to influence factors such as whether channel division navigation is implemented or not, storm flow, channel water depth and the like, for example, midpoint of each side is obtained to be connected to form a channel characteristic line (the channel characteristic line at the position can also be called as a channel central line), characteristic points of each side, which are wider than a starboard shore line 1/4, are obtained to be connected to form a channel characteristic line, and other characteristic points of each side, which are wider than the starboard shore line, are obtained to be connected to form a channel characteristic line according to specific conditions. The present embodiment takes the center line of the navigation channel as an example.
And 3, optimizing the extracted channel center line by using an area method, judging and selecting a necessary turning route point on the center line through the calculated accumulated area value according to the principle that half of a model of an outer product of vectors is the area of a triangle formed by two vectors from the starting point of the channel center line, and finally removing redundant route points from the channel center line, wherein the optimized route line is used as the actual route line of the unmanned ship.
The specific steps of the step 3 comprise:
3.1 starting from the starting point of the central line of the channel, three successive waypoints P0, P1 and P2 are taken backwards in sequence and can form two vectors P0P1、P0P2Calculating the area S, i.e. P, of the triangle formed by the current three waypoints0P1、P0P2Half of the modulus of the vector outer product;
3.2 if the area S of the triangle is larger than a given threshold value, judging that P1 is a necessary turning waypoint and storing the waypoint, sequentially pushing P0, P1 and P2 backwards by one bit to continue judging, and simultaneously resetting S; if the area S of the triangle is less than or equal to a given threshold, deleting the P1 waypoint from the center line, sequentially pushing backwards one position for continuous judgment by P1 and P2, keeping the P0 unchanged, and performing accumulated calculation on the area S without clearing, wherein the P0, the P1 and the P2 are sequentially and synchronously pushed backwards for calculation after the accumulated area is greater than the given threshold;
(3) repeating the operation (2) until the P2 is pushed to the end point;
(4) and sequentially connecting the starting point, all reserved necessary turning waypoints and the end point of the channel center line to form an optimized channel center line, and taking the optimized channel center line as a final execution route of the unmanned ship.
The effect of the present invention can be further illustrated by the following simulation experiments:
based on the actual data of the bank line of a certain river in China, the method is used for extracting the center line of the river, see fig. 1, and optimizing and deleting redundant waypoints, and the optimized route is shown in fig. 2.
As can be seen from the figures 1 and 2, the method can plan a feasible unmanned ship route between two points in the long and narrow channel, and has low calculation complexity and high planning efficiency.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the scope of the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (3)
1. A method for planning unmanned ship routes suitable for long and narrow channels is characterized by comprising the following steps: the method comprises the following steps:
step 1, preprocessing channel data, and extracting coordinate information of discrete points of left and right bank boundaries of a channel;
step 2, taking the discrete point coordinate data extracted in the step 1 as a connecting line endpoint, taking a shoreline as a constraint side to establish a Delaunay triangulation network to form a set of triangular sides, removing the triangular sides contained on the unilateral constraint shoreline from the set of triangular sides, obtaining the feature points on the remaining triangular sides, sequencing and sequentially connecting the feature points according to the direction of the navigation channel to obtain the navigation channel feature line;
and 3, optimizing the obtained channel characteristic line by using an area method, judging and selecting necessary turning route points on the characteristic line according to the calculated accumulated area value based on the principle that half of a model of an outer product of vectors is the area of a triangle formed by two vectors from the starting point of the channel characteristic line, removing redundant route points from the channel characteristic line, sequencing and sequentially connecting the reserved characteristic points again according to the direction of the channel to obtain the optimized channel characteristic line, wherein the optimized route is used as the actual route of the unmanned ship.
2. The unmanned ship route planning method for an elongated channel according to claim 1, wherein: in step 2, selecting the middle point of each side or the point which is on each triangle side and is wider than the starboard shore line 1/4 from the remaining feature points on each triangle side.
3. The unmanned ship route planning method for an elongated channel according to claim 1, wherein: the specific steps of the step 3 are as follows:
step 3.1, sequentially taking three continuous route points backwards from the starting point of the channel characteristic line, and calculating the area of a triangle formed by the current three route points;
step 3.2, comparing the calculated area with a set threshold, if the calculated area is larger than the given threshold, judging that the middle waypoint is a necessary turning waypoint and storing the necessary turning waypoint, synchronously and sequentially pushing the three waypoints backwards by one bit, clearing the calculated area, and continuously calculating and interpreting the area of the triangle; if the calculated area is less than or equal to the given threshold, judging that the middle waypoint is an unnecessary turning waypoint and deleting the middle waypoint, sequentially pushing the two rear waypoints backwards by one bit, keeping the front waypoint unchanged, and continuously calculating and judging the triangular area under the condition that the calculated area is accumulated until the accumulated area is greater than the given threshold, and sequentially and synchronously moving the three waypoints backwards;
3.3, repeating the operation of the step 1 and the step 2 until all the waypoints are traversed;
and 3.4, sequentially connecting the starting point, the reserved necessary turning route point and the end point of the channel characteristic line according to the channel direction to form the optimized channel characteristic line.
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