CN114839994B - Unmanned ship navigational speed self-adaptive path planning method based on improved artificial potential field method - Google Patents
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Abstract
The invention discloses an unmanned ship navigational speed self-adaptive path planning method based on an improved artificial potential field method, which aims at the problems of low path efficiency and easy falling into local minimum value caused by modeling idealization in the unmanned ship path planning application of the artificial potential field method (APFA), and specifically comprises the following steps: the method comprises the following steps of conducting regularization processing on an obstacle, setting the longest distance of the obstacle as a diameter, equivalently setting the longest distance as a circular obstacle, and setting a safety distance to make up the defect that the distance between the obstacle and the conventional APFA model cannot be accurately judged due to idealization; and designing an unmanned ship corner formula suitable for different navigational speeds, constructing corner judgment conditions, and avoiding the unmanned ship path planning from falling into local optimization according to twice tangent judgment criteria. Simulation results show that the improved APFA method provided by the invention solves the problem that the unmanned ship is easy to fall into a local minimum value under different navigation speeds, and the planned path is more optimal, the time is faster and the efficiency is higher.
Description
Technical Field
The invention relates to the field of unmanned ship path planning, in particular to an unmanned ship navigational speed self-adaptive path planning method based on an improved artificial potential field method.
Background
The unmanned ship has wide application prospect, and the path planning as a key technology thereof has been developed into a hot research direction in the field of unmanned ship research. At present, the widely used path planning methods include neural network algorithms, fuzzy algorithms, ant colony algorithms, a-x algorithms, artificial potential field methods, and the like. Compared with other algorithms, the artificial potential field method has the advantages of simple model, strong real-time performance, low requirement on hardware and the like.
The traditional artificial potential field method has the problems that local minimum values and targets cannot be reached, and when the unmanned ship path is planned, obstacles are regarded as particles, so that modeling is too ideal, and the planned path cannot reach the optimum. The corner formula provided by patent CN113189984B, "a method for planning unmanned ship path based on improved artificial potential field method", can only obtain the corner of the unmanned ship in the turning area, but does not consider the corner of the unmanned ship in unit time, does not consider whether the unmanned ship can finish the obtained corner before colliding with an obstacle, and does not consider the planning influence generated by different navigational speed conditions, so that the planned path is far and long in time; in a tangent method provided by CN110531762a "a robot path planning method based on an improved artificial potential field method", the position of a robot is used as a starting point, and for a current tangent line of a circular collision area, an outermost tangent line is used as a route direction, so that an obstacle can be effectively avoided, but a planned path is far.
Disclosure of Invention
The invention aims to provide an unmanned ship navigational speed self-adaptive path planning method based on an improved artificial potential field method, which can effectively solve the problems that the artificial potential field method is easy to fall into a local minimum value and the efficiency of path planning is low when the unmanned ship is applied to a path.
The invention adopts the following technical scheme for solving the problems: the unmanned ship navigation speed self-adaptive path planning method based on the improved artificial potential field method is designed, unmanned ship corner formulas suitable for different navigation speeds are provided, corner judgment conditions are established, and the unmanned ship path planning is prevented from falling into local optimization according to twice tangent judgment criteria. The method specifically comprises the following steps:
step 1:
carrying out regularization processing on the obstacles, equivalently converting the obstacles into circular obstacles by taking the longest distance of the obstacles as the diameter, setting the safety distance of the obstacles at the same time, and then executing the step 2;
step 2:
judging whether the unmanned ship reaches a target point, if so, ending, otherwise, executing the step 3;
and step 3:
the unmanned ship moves to a target point under the action of resultant force generated by attraction and repulsion, and the functions of the attraction and the repulsion are as follows:
constructing a gravity function:
F att ＝-K att ·d(x,x 1 ) (1)
in the formula: f att As a function of gravity, K att Is gravitational coefficient, x is the current position of the unmanned ship, x 1 Is the target point position, d (x, x) 1 ) The model length is a vector, the model length is the distance between the current position of the unmanned ship and a target point, and the direction is that the unmanned ship points to the target point. Function of gravitation F att The gravity is generated on the unmanned ship, and the unmanned ship goes to the target point under the action of the gravity.
Constructing a repulsion function:
in the formula: f rep As a function of repulsion, K rep Is coefficient of repulsion, x 0 Is the position of the obstacle, R is the influence range of the repulsive force of the obstacle, d (x, x) 0 ) Is a vector, the module length is the distance between the current position of the unmanned ship and the obstacle, the direction is the direction of the obstacle pointing to the unmanned ship, | d (x, x) 0 ) L is d (x, x) 0 ) Die length of (2). When the unmanned ship is in the influence range R of the obstacle repulsion, the repulsion function F rep And a repulsive force is generated to make the obstacle far away. The resultant force of the unmanned ship in the potential field is as follows:
F res ＝F att +F rep (3)
the unmanned ship moves to a target point under the action of resultant force generated by the attraction force and the repulsion force, and then step 4 is executed;
and 4, step 4:
judging the gravitation F att And repulsive force F rep If the directions are collinear and opposite, the gravity F to which the unmanned ship is subjected is shown in FIG. 5 att And repulsive force F rep Collinear and opposite directions, at which point step 5 is performed, otherwise continue along resultant force F res Moving the direction, and executing the step 2;
and 5:
at the moment, the unmanned ship falls into a local minimum value, and according to an angle formula:
in the formula: v is the current navigational speed of the unmanned ship, t is unit time, R is the influence range of the repulsion force of the barrier, R is the safe distance of the barrier, theta represents the minimum rotation angle of the unmanned ship in unit time at the current navigational speed, the unmanned ship rotates according to the angle theta, and then step 6 is executed;
and 6:
judging whether the navigational speed direction of the unmanned ship is tangent to the boundary of the safe distance of the obstacle, and as shown in fig. 3, judging conditions are as follows:
in the formula: (x) 0 ,y 0 ) Is the coordinate of the center point of the obstacle, (x, y) is the real-time coordinate of the unmanned ship, v is the current speed of the unmanned ship, v x Is the component of the speed v in the x direction, v y Is the component of the speed v in the y direction and theta represents the smallest turning angle of the unmanned ship in a unit time at the current speed. If the judgment condition (5) is met, stopping rotating and advancing along the current direction to execute the step 7, otherwise, executing the step 5;
and 7:
judging whether the connecting line of the current position and the target is tangent to the safety boundary of the obstacle, as shown in fig. 4, the judging conditions are as follows:
in the formula: (x) 1 ,y 1 ) If the coordinate of the target point is satisfied, the eta is a corner coefficient, the theta represents the smallest corner of the unmanned ship in the unit time at the current navigational speed, if the judgment condition (6) is satisfied, the unmanned ship rotates towards the direction of the target point, the step 8 is executed, otherwise, the step 6 is executed;
and 8:
and (3) judging whether the navigational speed direction of the unmanned ship is consistent with the direction of the target point, if so, stopping rotating, advancing towards the direction of the target point, leaving the repulsive force range and continuing to advance along the resultant force direction, and executing the step 2, otherwise, executing the step 7 and continuing to rotate.
The invention has the following beneficial effects:
1. the method can put off local minimum points at different navigational speeds according to the actual requirements of engineering on the basis of not changing the traditional potential field function, and has the advantages of short planned path, high efficiency, good real-time performance and strong universality;
2. according to the unmanned ship, the barriers are subjected to regularization treatment, and a safety distance is reserved, so that the unmanned ship is safer when moving along the line direction;
3. the unmanned ship corner formula designed by the invention enables the unmanned ship to generate different corners at different navigation speeds, and escapes from a local minimum value according to the obtained corners and twice tangent criteria;
4. under the condition of the same environmental parameters, compared with CN113189984B, an unmanned ship path planning method based on an improved artificial potential field method, the time efficiency of the method is improved by 11.07%, and the planned path is more excellent.
Drawings
FIG. 1 is a flow chart of a method for unmanned ship speed adaptive path planning based on an improved artificial potential field method;
FIG. 2 is a circular equivalent model of an obstacle;
FIG. 3 is a critical diagram of unmanned ship path planning first tangent to obstacle safety distance;
FIG. 4 is a critical diagram of unmanned ship path planning for a second time tangent to the safe distance of the obstacle;
FIG. 5 is a comparative diagram of unmanned ship path planning;
FIG. 6 is a comparison graph of unmanned ship path planning angle change and time;
FIG. 7 is a diagram of unmanned ship path planning at different speeds.
Detailed Description
Fig. 1 is a flow chart of unmanned ship path planning by improving the artificial potential field method of the present invention, which comprises the following steps:
step 1:
the method for treating the obstacle as a particle in the traditional artificial potential field method is changed, the obstacle is subjected to regularization treatment, the longest distance of the obstacle is taken as the diameter, the obstacle is equivalent to a circular obstacle, and meanwhile, the safety distance of the obstacle is set. As shown in fig. 2, where (x) 0 ,y 0 ) Is the coordinate of the center point of the obstacle, R is the safe distance of the obstacle, and R is the influence range of the repulsive force of the obstacle. Setting relevant parameters, and executing the step 2;
step 2:
judging whether the unmanned ship reaches a target point, if so, ending, otherwise, executing the step 3;
and step 3:
the unmanned ship moves to a target point under the action of resultant force generated by attraction and repulsion, and the functions of the attraction and the repulsion are as follows:
constructing a gravitation function:
F att ＝-K att ·d(x,x 1 ) (1)
in the formula: f att As a function of gravity, K att Is the gravity coefficient, x is the current position of the unmanned ship, x 1 Is the target point position, d (x, x) 1 ) The model length is a vector, the model length is the distance between the current position of the unmanned ship and a target point, and the direction is that the unmanned ship points to the target point. Gravitation function F att The gravity is generated on the unmanned ship, and the unmanned ship goes to the target point under the action of the gravity.
Constructing a repulsion function:
in the formula: f rep As a function of repulsion, K rep Is coefficient of repulsion, x 0 Is the position of the obstacle, R is the influence range of the repulsive force of the obstacle, d (x, x) 0 ) Is a vector, the module length is the distance between the current position of the unmanned ship and the obstacle, the direction is the direction of the obstacle pointing to the unmanned ship, | d (x, x) 0 ) L is d (x, x) 0 ) Die length of (2). When the unmanned ship is in the influence range R of the obstacle repulsion, the repulsion function F rep And a repulsive force is generated to make the obstacle far away. The resultant force of the unmanned ship in the potential field is as follows:
F res ＝F att +F rep (3)
the unmanned ship moves to a target point under the action of resultant force generated by the attraction force and the repulsion force, and then step 4 is executed;
and 4, step 4:
judgment of gravitational force F att And repulsive force F rep If the directions are collinear and opposite, the process proceeds to step 5, otherwise the process continues along the resultant force F res Moving the direction and executing the step 2;
and 5:
at the moment, the unmanned ship falls into a local minimum value, and according to an angle formula:
in the formula: v is the current navigational speed of the unmanned ship, t is unit time, R is the influence range of the repulsion force of the barrier, R is the safe distance of the barrier, theta represents the minimum rotation angle of the unmanned ship in the unit time under the current navigational speed, and the formula can calculate the angle needing to be rotated in the unit time according to the size of the barrier and the navigational speed of the unmanned ship so as to ensure that the unmanned ship cannot collide with the barrier and can shorten the path to the maximum extent. The unmanned ship rotates according to the angle theta, and then step 6 is executed;
step 6:
judging whether the navigational speed direction of the unmanned ship is tangent to the boundary of the safe distance of the obstacle, and as shown in fig. 3, judging conditions are as follows:
in the formula: (x) 0 ,y 0 ) Is the coordinate of the center point of the obstacle, (x, y) is the real-time coordinate of the unmanned ship, v is the current speed of the unmanned ship, v x Is the component of the speed v in the x direction, v y Is the component of the navigational speed v in the y direction and theta represents the smallest angle of rotation of the unmanned ship in a unit time at the current navigational speed. In order to shorten the planned path as much as possible, stopping rotating and advancing along the current direction when the judgment condition (5) is met, and executing the step 7, otherwise executing the step 5;
and 7:
judging whether the connecting line of the current position and the target is tangent to the safety boundary of the obstacle, as shown in fig. 4, the judging conditions are as follows:
in the formula: (x) 1 ,y 1 ) The coordinate of the target point is represented by eta, the greater the speed is, the smaller eta is, and the position of the unmanned ship rotating towards the direction of the target point can be adjusted by the coefficient, so that the optimal path can be planned as far as possible. If the judgment condition (6) is met, rotating towards the direction of the target point, and entering a step 8, otherwise, executing the step 6;
and 8:
and (3) judging whether the navigation speed direction of the unmanned ship is consistent with the direction of the target point, if so, stopping rotating, advancing towards the direction of the target point, moving away from the repulsive force range along the resultant force direction, and executing the step 2, otherwise, executing the step 7 and continuing rotating.
The method is simulated through Matlab/Simulink software, and the table 1 shows the relevant parameter settings of unmanned ship path planning simulation.
Table 1 unmanned ship path planning simulation related parameter settings
Fig. 5 is a unmanned ship path planning diagram compared with patent CN113189984B, an unmanned ship path planning method based on an improved artificial potential field method, the navigational speed is 39Kn, the solid line is the path planning route of the method of the present invention, the dotted line is the path planning route of patent CN113189984B, and it can be seen from the diagram that the path planned by the method of the present invention is shorter.
FIG. 6 is a graph comparing angle change with time, and the abscissa is time, the time of the whole process of the method of the present invention is 242 seconds, the time of the whole process of the method of patent CN113189984B is 270 seconds, and the time of the method of the present invention is 28 seconds shorter than that of the method of patent CN 113189984B. It can be seen from the figure that at 104 seconds, the unmanned ship meets the determination condition in step 6 of the method of the present invention, stops rotating and advances along the current direction, at 110 seconds, meets the determination condition in step 7 of the method of the present invention, rotates towards the direction of the target point, and after 130 seconds, meets the condition that the navigation speed direction is consistent with the direction of the target point in step 8, stops rotating and advances towards the direction of the target point, and leaves the repulsion influence range at 158 seconds and continues advancing along the resultant force direction.
In addition, fig. 7 is a simulation of path planning at the navigational speeds of 19Kn, 29Kn and 39Kn by the method of the present invention, and through the corner formula and the corner determination condition designed by the present invention, the unmanned ship can avoid the obstacle and escape from the local minimum value at different navigational speeds, and meanwhile, the unmanned ship can be tangent to the safety distance of the obstacle according to the twice tangent criteria, and the planned path is short and smooth.
The above-mentioned embodiments further illustrate the objects, technical solutions and advantages of the present invention, and the above-mentioned examples are only used for illustrating the technical solutions of the present invention, but not for limiting the scope of the present invention.
Claims (1)
1. An unmanned ship navigational speed self-adaptive path planning method based on an improved artificial potential field method is characterized by comprising the following steps:
step 1:
carrying out regularization processing on the barrier, setting the safe distance of the barrier, and executing the step 2;
and 2, step:
judging whether the unmanned ship reaches a target point, if so, ending, otherwise, executing the step 3;
and step 3:
the unmanned ship moves to a target point under the action of resultant force generated by attraction and repulsion, and the functions of the attraction and the repulsion are as follows:
constructing a gravity function:
F att ＝-K att ·d(x,x 1 ) (1)
in the formula: f att As a function of gravity, K att Is the gravity coefficient, x is the current position of the unmanned ship, x 1 Is the target point position, d (x, x) 1 ) Is a vector, the modular length is the distance between the current position of the unmanned ship and the target point, the direction is that the unmanned ship points to the target point, and the gravitation function F att The gravity is generated on the unmanned ship, and the unmanned ship goes to a target point under the action of the gravity;
constructing a repulsion function:
in the formula: f rep As a function of repulsion, K rep The coefficient of repulsion, R is the influence range of the repulsion of the obstacle, d (x, x) 0 ) Is a vector, the module length is the distance between the current position of the unmanned ship and the obstacle, the direction is the direction of the obstacle pointing to the unmanned ship, | d (x, x) 0 ) L is d (x, x) 0 ) When the unmanned ship is in the influence range R of the barrier repulsion, the repulsion function F rep Repulsion is generated to the unmanned ship, the unmanned ship is far away from the obstacle, and resultant force of the unmanned ship in a potential field is as follows:
F res ＝F att +F rep (3)
then executing the step 4;
and 4, step 4:
judging the gravitation F att And repulsive force F rep If the directions are collinear and opposite, step 5 is executed, otherwise, the resultant force F is continued res Moving the direction and returning to the step 2;
and 5:
at F att And F rep Under the action of (1), the unmanned ship can sink into a local minimum value at the moment, and according to an angle formula:
in the formula: v is the current navigational speed of the unmanned ship, t is unit time, R is the influence range of the repulsion force of the barrier, R is the safe distance of the barrier, theta represents the minimum rotation angle of the unmanned ship in unit time at the current navigational speed, the unmanned ship rotates according to the angle theta, and then step 6 is executed;
step 6:
judging whether the navigational speed direction of the unmanned ship is tangent to the boundary of the safe distance of the obstacle or not, wherein the judgment conditions are as follows:
in the formula: (x) 0 ,y 0 ) Is the coordinate of the center point of the obstacle, (x, y) is the real-time coordinate of the unmanned ship, v is the current speed of the unmanned ship, v x Is the component of the speed v in the x direction, v y If the component of the navigational speed v in the y direction is satisfied, theta represents the corner of the unmanned ship with the minimum unit time at the current navigational speed, the rotation is stopped if the judgment condition is satisfied, the unmanned ship moves forward along the current direction, the step 7 is executed, and if the component of the navigational speed v in the y direction is not satisfied, the step 5 is returned;
and 7:
judging whether a connecting line of the current position and the target is tangent to the safety boundary of the obstacle or not, wherein the judging conditions are as follows:
in the formula: (x) 1 ,y 1 ) If the current navigation speed meets the judgment condition, the unmanned ship rotates towards the direction of the target point, and the step 8 is executed, otherwise, the step 6 is executed;
and 8:
and (3) judging whether the navigation speed direction of the unmanned ship is consistent with the direction of the target point, if so, advancing along the current direction, and after leaving the repulsive force range, continuing to advance along the resultant force direction, returning to the step 2, otherwise, returning to the step 7, and continuing to rotate.
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