CN115185262A - Dynamic obstacle avoidance path rapid planning method based on minimum safe meeting distance - Google Patents
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Abstract
The invention belongs to the field of navigation control of underwater robots, and discloses a dynamic obstacle avoidance path rapid planning method based on minimum safe meeting distance, which comprises the following steps: acquiring current position and speed information of an AUV and a plurality of target ships; calculating the meeting time of each target ship arriving at the AUV, and taking the target ship with the shortest meeting time as a preferential avoidance ship; when the prior avoidance ship enters an AUV conventional obstacle avoidance area, calculating meeting parameters and carrying out collision risk assessment; if collision risks exist between the priority avoidance ship and the AUV, constructing an auxiliary plane by using the AUV, the priority avoidance ship and a relative motion trajectory line of the priority avoidance ship, and calculating an obstacle avoidance waypoint in the auxiliary plane based on the minimum safe meeting distance; and planning an obstacle avoidance path by taking the obstacle avoidance waypoint as the next target waypoint. The method has small calculation amount, can realize rapid planning of the obstacle avoidance path without sample learning and training, can effectively deal with the obstacle avoidance problem under the urgent situation, and can realize effective control on the obstacle avoidance path by adjusting the minimum safe encounter distance set value and realize effective coordination on the obstacle avoidance path length and the encounter safety.
Description
Technical Field
The invention belongs to the field of navigation control of underwater robots, and particularly relates to a dynamic obstacle avoidance path rapid planning method based on minimum safe meeting distance.
Background
As a novel underwater detection tool, the underwater robot has become an important device for implementing ocean resource exploration, enriching national navy equipment and showing the hard strength of national ocean science and technology gradually because of the advantages of small size, flexible control, high intelligence and the like. Based on the complex variability of the marine environment, the AUV works in the marine environment inevitably and can be influenced by geographic factors such as coast, submarine topography, suspended obstacles and hydrological factors such as ocean current, tide and skip layer, and in order to overcome the threat of uncertain obstacles in the complex environment to AUV navigation, the AUV needs to carry out obstacle avoidance path planning in real time to ensure navigation safety.
Common obstacle avoidance path planning methods include an artificial potential field method, a fuzzy logic method, an artificial neural network method and the like. The artificial potential field method is effective for simple environments, but because the artificial potential field method is researched in static environments, the influence of the speed and the acceleration of an obstacle is not considered, and the artificial potential field method cannot effectively cope with complex meeting scenes. The fuzzy logic method is based on fuzzy logic of real-time sensor information, refers to experience of predecessors, obtains planning information through table lookup to achieve local path planning, but is strong in subjectivity, and when input quantity is increased, an inference rule and a fuzzy control rule table are expanded sharply, operation quantity of an obstacle avoidance algorithm is increased sharply, and therefore system real-time performance is reduced. The artificial neural network method has the capabilities of parallel processing, self-learning and nonlinear mapping, but needs a large amount of sample data for training and is easy to fall into local optimum.
Therefore, it is very necessary to provide a dynamic obstacle avoidance path fast planning method based on the minimum safe meeting distance. The method is good in real-time performance, can realize rapid planning of the obstacle avoidance path without training based on samples, and can deal with various complex meeting scenes.
Disclosure of Invention
Technical problem to be solved
In order to solve the navigation safety problem of an AUV (autonomous underwater vehicle) in a complex environment, reduce the operation amount of a dynamic obstacle avoidance method and improve the real-time performance of dynamic obstacle avoidance, the invention provides a dynamic obstacle avoidance path rapid planning method based on a minimum safe meeting distance.
(II) technical scheme
In order to achieve the above object, the present invention provides a dynamic obstacle avoidance path fast planning method based on minimum safe encounter distance, which includes:
s1, respectively acquiring current positions and speed information of an AUV and a plurality of target ships;
s2, respectively calculating the time TCPA when each target ship reaches the minimum meeting distance with the AUV, and taking the target ship with the shortest reaching time as a priority avoiding ship;
s3, when the prior avoidance ship enters the conventional obstacle avoidance area of the AUV, calculating the minimum meeting distance DCPA and the time TCPA for reaching the minimum meeting distance between the prior avoidance ship and the AUV;
s4, evaluating collision risks according to the DCPA (minimum meeting distance) and the TCPA reaching time of the minimum meeting distance of the prior avoidance ship and the AUV;
s5, if collision risks exist between the priority avoidance ship and the AUV, constructing an auxiliary plane by using the AUV, the priority avoidance ship and a relative motion trajectory line of the priority avoidance ship, and calculating obstacle avoidance waypoints in the auxiliary plane based on the minimum safe meeting distance;
and S6, planning an obstacle avoidance path by taking the obstacle avoidance waypoints as next target waypoints.
Optionally, current position and speed information of the AUV and the target vessel is acquired in step S1 using AUV-loaded sensors.
Optionally, in step S2, the time TCPA when each target ship reaches the minimum meeting distance from the AUV is obtained by using the formula one:
the formula I is as follows:
wherein i is the target ship number, P A Position of AUV, P OB Is the position of the target vessel, V A And V OB The speed of the AUV and the target vessel in the geodetic coordinate system, respectively.
Optionally, in step S3, the minimum encounter distance DCPA between the preferential avoidance vessel and the AUV and the time TCPA when the minimum encounter distance is reached are obtained by using formulas two and three:
the formula II is as follows:
the formula III is as follows: DCPA＝|(P A +V A ·TCPA)-(P B +V B ·TCPA)|
Wherein, P A Position of AUV, P B Is the position of the target vessel, V A And V B The speed of the AUV and the target vessel in the geodetic coordinate system, respectively.
Alternatively, in step S4, if | V B -V A I → 0, TCPA → + ∞, meaning that two ships cannot collide; TCPA is less than 0, which means that the meeting of two ships is finished; therefore, when TCPA > 0 and the minimum encounter distance is less than the minimum safe encounter distance, it indicates that there is a risk of collision between the preferred avoidance vessel and the AUV.
Optionally, in step S5, as shown in fig. 2, the navigation speed of the AUV is set to V for safe obstacle avoidance A Adjusted to V AS Then the relative velocity of AUV and the preferential avoidance ship is V AB Adjusted to V ASB Taking the backward meeting point as an obstacle avoidance waypoint, so that the minimum meeting distance is greater than the minimum safe meeting distance; obtaining navigation speed V of AUV (autonomous underwater vehicle) safety obstacle avoidance by using formula four to eleven AS ：
The formula four is as follows:
the formula is five:
formula six: theta 3 ＝θ 1 -θ 2
The formula is seven:
the formula eight: p is D ＝P B +(V B -V A )gTCPA
The formula is nine:
formula ten:
formula eleven: v AS ＝V B -V ASB
Equation twelve: i V AS |＝|V A
Wherein DSPA is the minimum safe meeting distance, P j { j = a, B,.. F } is the coordinates of each point in fig. 2, and t is a scale parameter.
Optionally, in step S5, after the AUV adjusts the speed, the meeting time TCPAs and the obstacle avoidance waypoint WP after the direction change are obtained by using formulas thirteen and fourteen:
formula thirteen:
the formula fourteen: WP = P A +V AS ·TCPA S
Optionally, in step S6, if the priority avoidance ship has a collision risk with the AUV, the AUV may implement safe obstacle avoidance by using the obstacle avoidance waypoint as the next target waypoint, and re-navigates after reaching the obstacle avoidance waypoint and completing the obstacle avoidance operation.
(III) advantageous effects
The invention has the beneficial effects that: the method has the advantages that the obstacle avoidance path planning operation amount is small, the rapid obstacle avoidance path planning can be realized without sample learning and training, the obstacle avoidance problem under the urgent situation can be effectively solved, meanwhile, the method can realize effective control on the obstacle avoidance path by adjusting the minimum safe meeting distance set value, and the effective coordination of the obstacle avoidance path length and the meeting safety is realized.
Drawings
Fig. 1 is a schematic flow chart of a dynamic obstacle avoidance path fast planning method based on a minimum safe encounter distance according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of calculation of obstacle avoidance waypoints provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of an initial state of a simulation provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of obstacle avoidance of the target ship B by the AUV according to the embodiment of the present invention;
fig. 5 is a schematic diagram of an AUV completing obstacle avoidance and re-voyage of a target ship B according to an embodiment of the present invention;
fig. 6 is a schematic diagram of obstacle avoidance of the target ship C by the AUV according to the embodiment of the present invention;
fig. 7 is a schematic diagram of an AUV completing obstacle avoidance and re-voyage of a target ship C according to an embodiment of the present invention;
fig. 8 is a schematic diagram of obstacle avoidance of the target vessel D by the AUV according to the embodiment of the present invention;
fig. 9 is a schematic diagram of an AUV completing obstacle avoidance and re-voyage of a target ship D according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a simulation ending state provided in the embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Examples
As shown in fig. 1, the present embodiment provides a dynamic obstacle avoidance path fast planning method based on a minimum safe encounter distance:
s1, respectively acquiring current positions and speed information of an AUV and a plurality of target ships;
specifically, for example, the AUV is mounted with sensors such as sonar and inertial navigation equipment, and the current position and speed information of the AUV and the target ship is acquired by the sensors mounted on the AUV.
S2, respectively calculating time TCPA when each target ship reaches the minimum meeting distance with the AUV according to the current positions and speed information of the AUV and the target ships, and taking the target ship with the shortest arrival time as a priority avoidance ship;
in step S2, the time TCPA when each target ship reaches the minimum meeting distance from the AUV is obtained by using the formula one:
the formula I is as follows:
wherein i is the order of eyesBingboat number, P A Position of AUV, P OB Is the position of the target vessel, V A And V OB Respectively the speed of the AUV and the target ship under a geodetic coordinate system;
s3, when the prior avoidance ship enters the conventional obstacle avoidance area of the AUV, calculating the minimum meeting distance DCPA and the time TCPA for reaching the minimum meeting distance between the prior avoidance ship and the AUV;
as shown in fig. 2, the AUV obstacle avoidance safe regions are, from outside to inside, a conventional obstacle avoidance region and an emergency obstacle avoidance region, the emergency obstacle avoidance region is a sphere with a minimum safe meeting distance as a radius, and the conventional obstacle avoidance region is a sphere with a minimum safe meeting distance of 2.5 times as a radius;
in step S3, the minimum meeting distance DCPA between the prior avoiding ship and the AUV and the time TCPA when the minimum meeting distance is reached are obtained by using formulas II and III:
the formula II is as follows:
the formula III is as follows: DCPA = | (P) A +V A ·TCPA)-(P B +V B ·TCPA)|
Wherein, P A Position of AUV, P B Is the position of the target vessel, V A And V B The speeds of the AUV and the target ship in a geodetic coordinate system respectively;
s4, evaluating collision risks according to the DCPA (minimum meeting distance) and the TCPA reaching time of the minimum meeting distance of the prior avoidance ship and the AUV;
if | V B -V A I → 0, TCPA → + ∞, meaning that two ships cannot collide; TCPA is less than 0, which means that the meeting of two ships is finished; therefore, when TCPA is greater than 0 and the minimum meeting distance is less than the minimum safe meeting distance, collision risk between the prior avoidance ship and the AUV is indicated;
s5, if collision risks exist between the priority avoidance ship and the AUV, constructing an auxiliary plane by using the AUV, the priority avoidance ship and a relative motion trajectory line of the priority avoidance ship, and calculating obstacle avoidance waypoints in the auxiliary plane based on the minimum safe meeting distance;
as shown in fig. 3, is trueAUV navigation speed of existing safety obstacle avoidance is V A Adjusted to V AS Then the relative velocity of AUV and the preferential avoidance ship is V AB Adjusted to V ASB Taking the intersection point after turning the direction as an obstacle avoidance waypoint, so that the minimum intersection distance is greater than the minimum safe intersection distance;
in step S5, obtaining the navigation speed V of the AUV safe obstacle avoidance by using formulas from four to eleven AS ：
The formula four is as follows:
the formula is five:
formula six: theta 3 ＝θ 1 -θ 2
The formula seven:
the formula eight: p D ＝P B +(V B -V A )gTCPA
The formula is nine:
formula ten:
formula eleven: v AS ＝V B -V ASB
Equation twelve: | V AS |＝|V A |
Wherein DSPA is the minimum safe meeting distance, P j { j = a, B,. And F } are coordinates of each point in fig. 3, and t is a proportional parameter;
after the AUV adjusts the speed, acquiring the backward meeting time TCPAs and the obstacle avoidance waypoint WP by using a formula thirteen and a formula fourteen:
formula thirteen:
the formula fourteen: WP = P A +V AS ·TCPA S
S6, planning an obstacle avoidance path by taking the obstacle avoidance waypoints as next target waypoints;
if the priority avoidance ship has collision risk with the AUV, the AUV can realize safe obstacle avoidance by taking the obstacle avoidance waypoint as the next target waypoint, and re-navigation is carried out after the obstacle avoidance waypoint is reached and obstacle avoidance operation is finished.
Simulation embodiment
As shown in fig. 4, in this embodiment, a scene where the AUV meets a plurality of target ships is simulated, specifically, the AUV is located at a coordinate (0,300,0), and is to travel to a target waypoint (300,0,150), and a plurality of target ships are detected during the traveling process;
as shown in fig. 5, the target ship B is determined as a preferential avoidance ship by adopting the method of the present invention, and the obstacle avoidance is carried out on the target ship B which meets in a crossing way in a maneuvering way from left upper front; as shown in fig. 6, the position of the AUV after completing obstacle avoidance and re-navigation for the target ship B;
as shown in fig. 7, the AUV detects that the target ship C is a preferential avoidance ship, and performs obstacle avoidance on the encountered target ship C in a manner of maneuvering to the front right and the lower side; fig. 8 shows the position of the AUV after completing obstacle avoidance and re-voyage of the target ship C;
as shown in fig. 9, the AUV detects that the target ship D is a preferential avoidance ship, and performs obstacle avoidance on the target ship D to be tracked by maneuvering to the left front upper side; fig. 10 shows the position of the AUV after completing obstacle avoidance and re-voyage of the target vessel D;
the AUV continuously detects whether there is any meeting ship in the driving process until the AUV safely drives to the target waypoint (300,0,150) as shown in FIG. 10.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.
Claims (7)
1. A dynamic obstacle avoidance path rapid planning method based on minimum safe meeting distance is characterized by comprising the following steps:
s1, respectively acquiring current positions and speed information of an AUV and a plurality of target ships;
s2, respectively calculating the time TCPA when each target ship reaches the minimum meeting distance with the AUV, and taking the target ship with the shortest arrival time as a priority avoidance ship;
s3, when the prior avoidance ship enters the conventional obstacle avoidance area of the AUV, calculating the minimum meeting distance DCPA and the time TCPA of reaching the minimum meeting distance between the prior avoidance ship and the AUV;
s4, evaluating collision risks according to the DCPA (minimum meeting distance) and the TCPA reaching time of the minimum meeting distance of the prior avoidance ship and the AUV;
s5, if collision risks exist between the priority avoidance ship and the AUV, constructing an auxiliary plane by using the AUV, the priority avoidance ship and a relative motion trajectory line of the priority avoidance ship, and calculating obstacle avoidance waypoints in the auxiliary plane based on the minimum safe meeting distance;
and S6, planning an obstacle avoidance path by taking the obstacle avoidance waypoints as next target waypoints.
2. The method of claim 1, wherein the step S1 comprises:
and acquiring current position and speed information of the AUV and the target ship by using the sensor loaded on the AUV.
3. The method according to claim 1, characterized in that in step S2, the time TCPA at which each target vessel arrives at the minimum encounter distance with the AUV is obtained using formula one:
the formula I is as follows:
wherein i is the target ship number, P A Position of AUV, P OB To the eyesPosition of the marker boat, V A And V OB The speed of the AUV and the target vessel in the geodetic coordinate system, respectively.
4. The method of claim 1, wherein the minimum encounter distance DCPA between the preferred avoidance vessel and the AUV and the time to reach the minimum encounter distance TCPA are obtained in step S3 using the formulas two and three:
the formula II is as follows:
the formula III is as follows: DCPA = | (P) A +V A ·TCPA)-(P B +V B ·TCPA)|
Wherein, P A Position of AUV, P B Is the position of the target vessel, V A And V B The speed of the AUV and the target vessel in the geodetic coordinate system, respectively.
5. The method of claim 1, wherein step S4 comprises:
if | V B -V A I → 0, TCPA → + ∞, meaning that two ships are unlikely to collide; TCPA is less than 0, which means that the meeting of two ships is finished; therefore, when TCPA is greater than 0 and the minimum encounter distance is less than the minimum safe encounter distance, it indicates that there is a risk of collision between the preferred avoidance vessel and the AUV.
6. The method of claim 1, wherein in step S5, as shown in fig. 2, the AUV navigation speed for safety obstacle avoidance is set to V A Adjusted to V AS If the relative speed of AUV and the ship with preferential avoidance is V AB Adjusted to V ASB Taking the intersection point after turning the direction as an obstacle avoidance waypoint, so that the minimum intersection distance is greater than the minimum safe intersection distance; obtaining navigation speed V of AUV (autonomous underwater vehicle) safety obstacle avoidance by using formula four to eleven AS ：
The formula IV is as follows:
the formula five is as follows:
the formula six: theta 3 ＝θ 1 -θ 2
The formula is seven:
the formula eight: p is D ＝P B +(V B -V A )gTCPA
The formula is nine:
the formula ten:
the formula eleven: v AS ＝V B -V ASB
The formula twelve: i V AS |＝|V A |
Wherein DSPA is the minimum safe meeting distance, P j { j = a, B,.. F } is the coordinates of each point in fig. 2, and t is a scale parameter.
7. The method as claimed in claim 1, wherein in step S5, after the AUV adjusts the speed, the backward meeting time TCPAs and the obstacle avoidance waypoint WP are obtained by using the formulas thirteen and fourteen:
formula thirteen:
the formula fourteen: WP = P A +V AS ·TCPA S
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| CN116610125A (en) * | 2023-05-26 | 2023-08-18 | 北鲲睿航科技(上海)有限公司 | Collision prevention method and system for intelligent ship active collision avoidance system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116610125A (en) * | 2023-05-26 | 2023-08-18 | 北鲲睿航科技(上海)有限公司 | Collision prevention method and system for intelligent ship active collision avoidance system |
| CN116610125B (en) * | 2023-05-26 | 2024-01-30 | 北鲲睿航科技(上海)有限公司 | Collision prevention method and system for intelligent ship active collision avoidance system |
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