CN116069030A - Ship automatic berthing path planning method considering ship maneuvering performance - Google Patents
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Abstract
The invention discloses a ship automatic berthing path planning method considering ship maneuvering performance, which relates to the technical field of ship berthing, and comprises the following steps: establishing a ship berthing maneuvering performance calculation function, wherein the ship berthing maneuvering performance calculation function comprises a maneuvering turning radius calculation function and an additional mass calculation function; the method comprises the steps of inputting and processing environment maps and ship scale information, establishing a grid map of a berthing operation area, inputting berthing starting points and ending points of ships, inputting main scale parameters of the ships, generating collision detection areas of the ships and establishing a kinematic equation of the ships; and carrying out path planning step based on an automatic berthing path planning algorithm, checking, inquiring and resolving collision, environment information, a ship motion equation and a maneuvering performance calculation function in the planning process according to an algorithm flow to obtain a preliminary berthing path of the ship, and obtaining a final berthing path curve through calculation such as berthing path smoothing and speed planning to ensure safe and smooth development of the berthing process of the ship.
Description
Technical Field
The invention relates to the technical field of ship berthing, in particular to a ship automatic berthing path planning method considering ship maneuvering performance.
Background
The ship intelligence is a focus of attention of current ship engineering researchers in various countries, the ship intelligent navigation process comprises research results in aspects of ship position and obstacle sensing, track planning, ship motion control and the like, and the automatic berthing process of the ship is used as an important application scene under the intelligent navigation of the ship, so that various key technologies necessary for the intelligent navigation are covered. Meanwhile, when the ship is berthed, because the navigation space of the channel is limited and is influenced by wind, waves, current, coming and going ships, navigation obstruction and shallow water effects, the control in the berthing process is more difficult than that in the general navigation, and the berthing process has higher requirements on the motion planning and control of the ship. The problem of automatic berthing of the ship is solved, and most of the problems of intelligent navigation of the ship are basically solved. Therefore, the method has important practical significance for developing research work of the ship automatic berthing technology.
The common path planning algorithm comprises an artificial potential field method, a genetic algorithm, a neural network, a simulated annealing algorithm, an ant colony algorithm and the like, but due to the complex wharf environment where the ship is located, the ship has low navigational speed and poor rudder efficiency in the berthing stage, the path planned by the method does not consider the maneuvering performance of the ship when berthing, and the safety risk of the ship when berthing can be increased.
Disclosure of Invention
The inventor provides a method for planning an automatic berthing path of a ship by considering the maneuvering performance of the ship aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
a method for planning an automatic berthing path of a ship considering ship maneuvering performance comprises the following steps:
carrying out rasterization processing on a ship berthing operation area map, and determining indexes of berthing starting point pose and berthing final point pose under the rasterized map;
initializing a set to be searched and a searched set, and adding a berthing starting point as an initial node of a searching process into the set to be searched;
obtaining optimal nodes to be searched from the set to be searched, if the pose indexes of the optimal nodes to be searched are different from the pose indexes of the berthing end points, putting the optimal nodes to be searched into the searched set, and determining the minimum steering turning radius of the ship of the optimal nodes to be searched; determining whether a shortest navigable curve without collision exists between the optimal nodes to be searched and the berthing end point according to the pose of the optimal nodes to be searched and the minimum steering turning radius of the ship; if the node exists, the berthing terminal is used as a terminal node of the searching process and is put into the searched set, the optimal node to be searched is used as a father node of the terminal node, and the steps of connecting the father node of the optimal node to be searched from the terminal node in sequence until reaching the initial node are executed; if the node does not exist, solving the next berthing node which can be reached when the ship is not collided under different rudder angles by adopting a Runge-Kutta method based on the pose of the optimal node to be searched and a ship motion equation, and taking the optimal node to be searched as a father node of the berthing node; placing the berthing nodes which are not in the searched set into the set to be searched, and re-executing the step of obtaining the optimal nodes to be searched from the set to be searched;
if the pose index of the optimal node to be searched is the same as the pose index of the berthing end point, the optimal node to be searched is used as the end point node of the searching process to be put into the searched set; and in the searched set, starting from the destination node, sequentially connecting the parent nodes until reaching the initial node, and obtaining the optimal berthing planning path.
The beneficial technical effects of the invention are as follows:
according to the automatic berthing path planning method for the ship, constraint of steering turning radius, additional mass and ship speed in the berthing process of the ship is considered when a berthing path node is searched, so that a reliable optimal berthing planning path is obtained; and further smoothing each node forming the optimal berthing planning path, so that the generated path is more in line with the actual berthing environment, and finally, a ship motion controller is designed according to the geographical position and berthing speed of each smoothed node to control the rudder angle and the rotating speed of a propeller of the ship, so that the ship sails according to the optimal berthing planning path, and the safe and smooth development of the berthing process of the ship is ensured.
Drawings
Fig. 1 is a flowchart of a method for planning an automatic berthing path of a ship.
Fig. 2 is a diagram of a neural network for generating a vessel steering radius gyration calculation function provided by the present application.
FIG. 3 shows various berthing node nodes provided in the present application n And a logical relationship graph between the parent node and the parent node.
Fig. 4 is a schematic diagram of a navigable curve provided herein that is driven by a current node to a berthing endpoint.
Fig. 5 is a schematic view of the circular collision area s of the ship provided by the present application.
Fig. 6 is a schematic view of a ship navigation route search at different rudder angles provided by the present application.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
As shown in fig. 1, the embodiment discloses a method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship, which comprises the following steps:
step 1: and establishing a ship berthing maneuvering performance calculation function.
Wherein the berthing maneuvering performance of the ship comprises maneuvering a radius of gyration and additional mass formed by water acting on the ship while berthing.
When the two kinds of ship berthing maneuvering performance calculation functions are established, firstly, obtaining the ship berthing speeds V, the water depths h and the rudder angles deg of the ship at different berthing speeds V, the water depths h and the rudder angles deg of the ship in a pool model test or numerical calculation mode rudder The following steering radius of gyration and the additional mass data, a steering performance data set for the vessel berthing process is established. Alternatively, the required data is obtained by fixing two variables, changing one variable at each trial. Secondly, obtaining the steering angle deg of the ship at the berthing speed V, the water depth h and the berthing speed h by means of neural network learning on the maneuvering performance data set rudder Calculating a function fr (·) for the vessel steering radius of gyration as a variable, and an additional mass calculation function with water depth as a variable
As shown in formulas (1) and (2).
Formula (1): r=fr (V, h, deg) rudder )
Formula (2):
wherein r is the minimum steering turning radius of the ship;
calculating a function for the longitudinal additional mass->
Calculate a function for the lateral additional mass,/->
For the calculation function of the additional mass of the heading, +.>
For adding mass to the longitudinal direction of the ship, < > a->
For adding mass to the transverse direction of the ship, < > for>
Adding mass to the heading of the vessel. The functions are all obtained through the learning of a neural network, the neural network is of a three-layer network structure, and the number of nodes in the network is dynamically adjusted according to the size of the learning data quantity, as shown in fig. 2. Compared with the traditional database fitting mode, the additional mass calculation function and the ship steering gyration radius calculation function obtained in the neural network learning mode can effectively reduce the data dimension and provide the data calculation efficiency. />
Step 2: and carrying out rasterization processing on the ship berthing operation area map, and determining indexes of berthing starting position and berthing final position under the rasterized map.
Step 2.1: in the rasterization processing, the map resolution gre after rasterization is set map Resolution gre of rudder angle of ship rudder Resolution gre of ship bow yaw And ship motion resolution gre motion And determining the position of the obstacle in the rasterized map so that it may be used for automatic berthing path searching, wherein: resolution gre of rudder angle of ship rudder And ship motion resolution gre motion Dynamic planning in ship berthing process, and ship heading resolution gre yaw The method is used for the heading discretization in the automatic berthing path searching process.
Step 2.2: determining a berthing start point pose includes determining a geographic location (posx) of berthing start point startpoint in a geodetic coordinate system start ,posy start ) And ship heading yaw start The berthing endpoint pose includes the geographic location (posx) of the berthing endpoint in the geodetic coordinate system end ,posy end ) And ship heading yaw end Wherein the geographical position of the berthing starting point startpoint is used for taking the current ship position and the ship heading yaw start And taking the current ship heading, and ensuring that the berthing starting point and the berthing ending point cannot collide with the obstacle.
Step 2.3: the corresponding calculation formula for converting the pose of the berthing start point and the berthing end point into the index under the grid map is as follows:
equation (3): posxidx=ceil (posx) t /gre map +0.5)－1
posyidx＝ceil(posy t /gre map +0.5)－1
yawidx＝ceil[(yaw t +π)/gre yaw ]
Where ceil (·) represents rounding up floating point numbers, subscript t=start or end.
Step 3: initializing a set to be searched openset= { } and a searched set close set= { }, and taking a berthing starting point startpoint as an initial node of a searching process 0 To the collection to be searched, at this time openset= { node 0 }。
In this embodiment, one node contains the following attributes:
node{posxidx,posyidx,yawidx,
posx,posy,yaw,
velx,vely,velyaw,
parentnode,nodevalue}
wherein, pos x, pos y, yaw are the geographical position of the node under the geodetic coordinate system and the ship heading, velx, vely, velyaw are the longitudinal speed, transverse speed and heading speed of the node, respectively; the panntnode is a father node of the node, which indicates that the node is obtained by searching the father node, and the relation between the panntnode and the node is shown in figure 3; nodevalue is the cost value of a node.
Step 4: obtaining optimal nodes to be searched from the set to be searched openset opt The method specifically comprises the following steps:
step 4.1: generating a random number num between 0 and 1 rand ；
Step 4.2: and calculating a cost value nodevalue of each node in the set to be searched, and sequencing from low to high to obtain a nodevalue sequence. The calculation formula is as follows:
equation (4): nodevalue = d posxidx,posyidx +distance n2p +cost steer ·deg rudder
Wherein d posxidx,posyidx Distance is the distance from the grid index (posxidx, posyidx) where the current node position is located to the berthing destination position index n2p Cost is the distance from the grid index of the current node position to the parent node position index steer Penalty coefficients for steering;
step 4.3: to avoid the algorithm from being trapped in local search, if num rand More than 0.2, selecting the node with the smallest cost value nodevalue as the node of the optimal node to be searched opt ；
Step 4.4: if num rand Less than or equal to 0.2, randomly selecting one node from the first 1/3 nodes in the nodevalue sequence as the node of the optimal searching node opt 。
Step 5: calculating optimal nodes for searching by using (3) opt If the pose index of the node to be searched is optimal opt If the pose index of the node to be searched is different from the pose index of the berthing endpoint, the node to be searched is optimized opt Put into the searched collection close and execute step 6. If the node to be searched is optimal opt If the pose index of (2) is the same as that of the berthing end point, a path from berthing start point to berthing end point is found, and the optimal node to be searched is considered to be found opt Endpoint node as search procedure end Put into the searched collection close and execute step 11.
Step 6: determining optimal node for searching opt Minimum steering radius of gyration r of a vessel node 。
Step 6.1: determining the optimal node to be searched by taking inequality C as a selection condition opt Target navigational speed V of (2) node ：
Equation (5):
C：(posx node -posx end ) 2 +(posy node -posy end ) 2 ≤(aL) 2
in (posx) node ,posy node ) Node to be searched optimally opt Geographical location in geodetic coordinate system, (posx) end ,posy end ) D, for the geographic position of the berthing destination under the geodetic coordinate system n2e For optimizing the distance from the node to be searched to the berthing end point, L is the ship length, and a is the proportionality coefficient. Through the formula (5), the berthing ship operation experience and the direction of the environmental stress can be comprehensively considered, so that the ideal berthing speed of the ship at the designated node position can be accurately calculated.
Step 6.2: node to be searched optimally opt Depth h of water at the geographic location node Target navigational speed V node Current rudder angle deg rudder Inputting into a ship steering turning radius calculation function fr (-), namely a formula (1), and obtaining an optimal node to be searched opt Minimum steering radius of gyration r of a vessel node 。
Step 7: according to the optimal node to be searched opt And berthing end point endpoint pose and minimum steering turning radius r of ship node And yaw end It is determined whether there is a shortest navigable curve between the two points where no collision occurs.
Step 7.1: to optimize node to be searched opt Geographic location in geodetic coordinates (posx node ,posy node ) Ship heading yaw node Minimum steering radius r of ship node And the geographic location (posx) of the docking end point endpoint in the geodetic coordinate system end ,posy end ) Ship heading yaw end Minimum steering radius r of ship end For inputting data, searching optimal node to be searched according to geometric relation mapping of two points opt Whether a navigable curve exists between the navigation point and the berthing endpoint ship . If there are multiple navigable curves curve ship Selecting a navigable curve with the shortest path from the curves, and executing the step 7.2; if there is no navigable curve ship Step 8 is entered.
As shown in FIG. 4, the current node is moved to the berthing destination node end Sailable curve of (c) ship There are many possibilities for meeting the constraints, only one of which is given as an example in the figure. The ship can navigate along the sailable curve with the circle center O and radius R ship Traveling, wherein the radius of gyration R satisfies R.ltoreq.r node And R is less than or equal to R end The vessel should meet the constraints of position pos and heading yaw at each node.
Step 7.2: and detecting whether the ship collides with the obstacle when sailing along the shortest sailing curve according to the circular collision area s of the ship, namely, whether the collision area s coincides with the area of the obstacle. If the overlapping exists, collision occurs, and the step 8 is entered; if there is no overlap, no collision occurs, and the process proceeds to step 10.
The circular collision area s of the ship is generated according to the input ship scale information, as shown in fig. 5, when the static and dynamic obstacle enters the range of the collision area s, the risk of collision is considered to exist, the collision area s needs to be avoided in the automatic berthing path searching process, and the diameter of the collision area s is larger than the ship length L, and is usually about 2L.
Step 8: if at the optimal node to be searched opt And the shortest navigable curve which does not collide with the berthing endpoint does not exist, the node is based on the optimal node to be searched opt Pose of (2) and ship motion equation
Solving next berthing node which can be reached when ship is not collided under different rudder angles by adopting Runge-Kutta (Dragon-Kutta) method i (i=1, 2, …, n) and the node to be searched optimally opt As a docking node i Then step 9 is entered.
<1>Establishing a ship motion equation
The specific expression is as follows:
equation (6): v (V) s ＝[velxvelyvelyaw]
P s ＝[posxposyyaw]
Wherein V is s Is the velocity vector of the ship and comprises a longitudinal velocity velx, a transverse velocity vely and a bow-swing velocity velyaw; p (P) s Is a position vector of the ship, and comprises geographic positions (posx, posy) and heading yaw under a geodetic coordinate system; r (yaw) is a rotation matrix, m is the ship mass, and the symbol above the parameters is used for deriving variables; f (F) X For the force exerted by the ship in the longitudinal direction, F Y The ship is transversely subjected to acting force, wherein the acting force comprises environmental force, rudder force and propeller acting force; m is M N Is longitudinally stressed by a shipThe applied torque also comprises the environmental torque, rudder force torque and propeller applied torque. The expression is:
equation (7): f (F) X ＝X H0 (V,d,h)+X H (velx,velyaw)+X P +X R (deg rudder )
F Y ＝Y H (vely,velyaw)+Y R (deg rudder )
M N ＝N H (vely,velyaw)+N P +N R (deg rudder )
Wherein X is H0 (V, d, h) is a function taking the ship navigational speed V, the draft d and the water depth h as variables, and outputting the function as the direct navigation resistance of the ship; x is X H The output of (velx, velyaw) is the hydrodynamic force received by the longitudinal motion of the ship, Y H The output of (vely, velyaw) is the hydrodynamic force to which the ship is subjected in the transverse direction, N H (vely, velyaw) is hydrodynamic force to which ship bow motion is subjected; x is X R (. Cndot.) is rudder induced drag, Y R (. Cndot.) lateral force provided to rudder, N R (. Cndot.) is rudder induced yaw moment; x is X P For thrust of propeller, N P R is yaw moment caused by propeller 0 Is the basic resistance of still water.
<2>Berthing node capable of reaching under different rudder angles i N and the first rudder angle deg rudder,l The calculation formulas of (a) are expressed as follows:
equation (8):
wherein maxdeg rudder For the maximum allowed rudder angle, int (·) is the rounding of the floating point number.
<3>Solving to obtain the next berthing node of ship navigation under different rudder angles i Then, according to the optimal node to be searched opt To the ith docking node i Is the sailing distance S of (2) i Ship motion resolution gre motion Distance S will be travelled i Divided into a plurality of lengths g i,j ＝gre motion Is a small segment path of (a) and node n i,j Where i=1, 2,..n, j=1, 2,.. i /gre motion ) As shown in fig. 6.
<4>If the node to be searched is optimal opt To the ith docking node i Each node n between i,j No collision occurs with the obstacle (i.e. the area of the obstacle is coincident), the ith berthing node is reserved i The method comprises the steps of carrying out a first treatment on the surface of the If any node n i,j Collision with obstacle, i-th berthing node is abandoned i . As shown in FIG. 6, with the nth docking node n Nodes on related navigable paths
Collide with an obstacle (shown shaded in the figure), thus discarding the node n And (5) a node.
It should be noted that, based on the optimal node to be searched opt Pose of (2) and ship motion equation
Solving next berthing node when ship is not collided under different rudder angles by adopting Runge-Kutta (Dragon-Kutta) method i The specific implementation of (a) is a conventional technical means in the field, and thus is not an important point of the present application, and will not be described in detail herein.
Step 9: judging berthing node in turn i (i=1, 2, …, n) if in the searched set closset, if so, discarding the node; if not in the close, the node is to be berthed i Put into the collection to be searched openset and re-execute step 4.
Step 10: if at the mostPreferential treatment searching node opt The berthing endpoint is used as an endpoint node in the searching process if a shortest navigable curve which does not collide exists between the berthing endpoint and the berthing endpoint end Put into the searched set, and node the optimal node to be searched opt As end node end Is added to the parent node of (a), step 11 is entered.
Step 11: in the searched set, from the end node end Starting to connect the parent nodes of the parent nodes in turn until the initial node is reached 0 Obtaining an optimal berthing planning path, wherein the node sequence is expressed as { node } end ,node end-1 ,…,node 1 ,node 0 }。
Step 12: and smoothing the geographic positions of all nodes forming the optimal berthing planning path under the geodetic coordinate system.
According to the geographic position (posx, posy), heading yaw and speed attribute velx, vely, velyaw of each node in the node sequence, the pose and speed sequence of the ship berthing process are further obtained as follows:
pose sequence: posx= { POSX end ,posx end-1 ,…,posx 1 ,posx 0 }
POSY＝{posy end ,posy end-1 ,…,posy 1 ,posy 0 }
YAW＝{yaw end ,yaw end-1 ,…,yaw 1 ,yaw 0 }
Speed sequence: VELX= { VELX end ,velx end-1 ,…,velx 1 ,velx 0 }
VELY＝{vely end ,vely end-1 ,…,vely 1 ,vely 0 }
VELYAW＝{velyaw end ,velyaw end-1 ,…,velyaw 1 ,velyaw 0 }
According to the position sequences POSS and POSY, smoothing each berthing node in the sequence by applying a formula (9), and recording the smoothed path sequence as POSY h 、POSY h 。
Equation (9):
wherein J is a path smoothing objective function, w o Planning a penalty weight coefficient, x, of a path distance obstacle for optimal berthing u Planning the geographic position x of the u-th node on the path in the geodetic coordinate system for optimal berthing u ＝(posx u ,posy u ) N is the total number of nodes on the optimal berthing planning path, o u Dis, the geographical location of the obstacle nearest to the u-th node max Is the maximum allowable distance between the node and the obstacle, w κ Penalty weight coefficient, κ, for path curvature term for optimal berthing planning u For the curvature of the u-th node, κ max Is the maximum allowable curvature of the node, w s As penalty coefficient of smoothing term, Δx u The position vector of the current node, denoted as Δx u ＝x u -x u-1 . By deriving a path smoothing objective function J, application
And carrying out iterative correction on each node, wherein k is the iterative number.
Step 13: and determining the berthing speed of each node according to the smoothed geographic position and speed attribute of each node.
Substituting the smoothed geographic position and velocity attribute of each node into the following solving coefficient k 3 、k 2 、k 1 、k 0 The calculation formula is as follows:
equation (10):
wherein inv (·) represents inverting the matrix; s is(s) u The path length from the (u-1) th node to the (u) th node is denoted as s u ＝x u -x u-1 ；v u Berthing speed for the u-th node, including longitudinal speed velx u Transverse velocity vely u The calculation mode is v u ＝velx u ,vely u ；a u The berthing acceleration of the u-th node is usually 0. Obtaining coefficient k 3 、k 2 、k 1 、k 0 After that, the berthing speeds of the u-th node and the u+1th node are calculated according to a formula (11), and the planned speed sequence is recorded as VEL= { v end ,v end-1 ,…,v 1 ,v 0 }。
Equation (11):
step 14: according to the smoothed geographical position POSX of each node h 、POSY h And designing a ship motion controller by the planned berthing speed VEL to control the rudder angle and the rotating speed of the propeller of the ship, realizing the sailing of the ship according to the optimal berthing planning path, and finally completing the automatic berthing process of the ship.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present invention are deemed to be included within the scope of the present invention.
Claims (10)
1. A method for planning an automatic berthing path of a ship in consideration of the maneuvering performance of the ship, the method comprising:
carrying out rasterization processing on a ship berthing operation area map, and determining indexes of berthing starting point pose and berthing final point pose under the rasterized map;
initializing a set to be searched and a searched set, and adding a berthing starting point as an initial node of a searching process into the set to be searched;
obtaining optimal nodes to be searched from a set to be searched, if the pose indexes of the optimal nodes to be searched are different from the pose indexes of berthing end points, putting the optimal nodes to be searched into the searched set, and determining the minimum steering turning radius of the ship of the optimal nodes to be searched; determining whether a shortest navigable curve without collision exists between the optimal nodes to be searched and the berthing end point according to the pose of the optimal nodes to be searched and the minimum steering turning radius of the ship; if the node exists, the berthing destination is used as a destination node of the searching process and is put into the searched set, the optimal node to be searched is used as a father node of the destination node, and the steps of connecting the father nodes of the nodes in sequence from the destination node until the initial node is reached are executed; if the optimal node to be searched does not exist, solving the next berthing node which can be reached when the ship is not collided under different rudder angles by adopting a Runge-Kutta method based on the pose of the optimal node to be searched and a ship motion equation, and taking the optimal node to be searched as a father node of the berthing node; placing the berthing nodes which are not in the searched set into the set to be searched, and re-executing the step of obtaining the optimal nodes to be searched from the set to be searched;
if the pose index of the optimal node to be searched is the same as the pose index of the berthing end point, the optimal node to be searched is taken as the end point node of the searching process to be put into the searched set; and in the searched set, starting from the destination node, sequentially connecting the parent nodes until reaching the initial node, and obtaining the optimal berthing planning path.
2. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 1, wherein the method for acquiring the optimal nodes to be searched from the set to be searched comprises:
calculating a cost value nodevalue of each node in the set to be searched, and sequencing from low to high to obtain a nodevalue sequence; wherein nodevalue=d posxidx,posyidx +distance n2p +cost steer ·|deg rudder |；
If the generated random number is larger than 0.2, selecting a node with the minimum cost value nodevalue as an optimal node to be searched; if the generated random number is smaller than or equal to 0.2, randomly selecting a node from the first 1/3 nodes in the nodevalue sequence as an optimal searching node; wherein the random number is between 0 and 1;
wherein d posxidx,posyidx Distance is the distance from the grid index (posxidx, posyidx) where the current node position is located to the berthing destination position index n2p Cost is the distance from the grid index of the current node position to the parent node position index steer Penalty coefficient for steering, deg rudder Is the rudder angle of the ship.
3. The method for planning an automatic berthing path of a vessel in consideration of vessel maneuvering characteristics according to claim 1, wherein the method for determining a minimum maneuvering radius of gyration of a vessel at an optimal search node comprises:
determining the target navigational speed V of the optimal node to be searched by taking inequality C as a selection condition node ：
C：(posx node -posx end ) 2 +(posy node -posy end ) 2 ≤(aL) 2 ；
In (posx) node ,posy node ) For optimizing the geographical position of the node to be searched in the geodetic coordinate system, (posx) end ,posy end ) D, for the geographic position of the berthing destination under the geodetic coordinate system n2e For the distance from the optimal node to be searched to the berthing end point, L is the ship length, and a is the proportionality coefficient;
the water depth h of the geographical position where the optimal node to be searched is positioned node Target navigational speed V node Current rudder angle deg rudder Inputting the minimum steering return of the ship to the optimal node to be searched to obtain a ship steering radius calculation function fr (& gt)Radius of rotation r node ，r node ＝fr(V node ,h node ,deg rudder )。
4. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 1, wherein the method for determining whether a shortest navigable curve without collision exists between two points according to the pose of an optimal node to be searched and berthing end point and the minimum maneuvering turning radius of the ship comprises the following steps:
with the optimal geographical position (posx) of the node to be searched in the geodetic coordinate system node ,posy node ) Ship heading yaw node Minimum steering radius r of ship node And the geographic position of the berthing end point in the geodetic coordinate system (posx end ,posy end ) Ship heading yaw end Minimum steering radius r of ship end For inputting data, mapping and searching whether a navigable curve exists between the optimal searching node and the berthing end point according to the geometric relation of the two points;
if a plurality of navigable curves exist, selecting a navigable curve with the shortest path from the navigable curves, and detecting whether the ship collides with an obstacle or not when sailing along the shortest navigable curve according to the circular collision area s of the ship; if no collision occurs, the shortest navigable curve without collision exists; if collision occurs, or if no navigable curve exists, the shortest navigable curve without collision does not exist;
wherein the diameter of the ship circular collision area s is larger than the ship captain.
5. The method for planning an automatic berthing path of a vessel in consideration of vessel maneuvering characteristics according to claim 1, wherein the equation of vessel motion
The specific expression is as follows:
V s ＝[velx vely velyaw]；
P s ＝[posx posy yaw]；
wherein V is s The speed vector of the ship comprises a longitudinal speed velx, a transverse speed vely and a heading speed veleaw; p (P) s Is a position vector of the ship, and comprises geographic positions (posx, posy) and heading yaw under a geodetic coordinate system; r (yaw) is a rotation matrix, and m is the ship mass;
for adding mass to the longitudinal direction of the ship, < > a->
For adding mass to the transverse direction of the ship, < > for>
For the additional mass of the ship's heading, a function is calculated from the additional mass as a function of the water depth, respectively>
Calculating to obtain; f (F) X For the force exerted by the ship in the longitudinal direction, F Y For the ship to transversely bear acting force M N The expression is as follows for the action moment that boats and ships longitudinally receive:
F X ＝X H0 (V,d,h)+X H (velx,velyaw)+X P +X R (deg rudder )；
F Y ＝Y H (vely,velyaw)+Y R (deg rudder )；
M N ＝N H (vely,velyaw)+N P +N R (deg rudder )；
wherein X is H0 (V, d, h) is a function taking the ship navigational speed V, the draft d and the water depth h as variables, and outputting the function as the direct navigation resistance of the ship; x is X H The output of (velx, velyaw) is the hydrodynamic force received by the longitudinal motion of the ship, Y H The output of (vely, velyaw) is the hydrodynamic force to which the ship is subjected in the transverse direction, N H (vely, velyaw) is hydrodynamic force to which ship bow motion is subjected; x is X R (. Cndot.) is rudder induced drag, Y R (. Cndot.) lateral force provided to rudder, N R (. Cndot.) is the rudder induced yaw moment, deg rudder Is a rudder angle; x is X P For thrust of propeller, N P R is yaw moment caused by propeller 0 Is the basic resistance of still water.
6. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 1, wherein in the method for solving the next berthing node which can be reached when the ship is not collided under different rudder angles by adopting a ringe-Kutta method, wherein:
first rudder angle deg rudder,l The calculation formula of (2) is expressed as:
wherein maxdeg rudder For maximum allowable rudder angle gre rudder For the resolution of rudder angle of the ship, n is the total number of next berthing nodes which can be reached by solving, and is expressed as:
int (·) is rounding up floating point numbers;
after solving to obtain the next berthing node for ship navigation under different rudder angles, according to the optimal nodes to be searched to the ith berthing nodeIs the sailing distance S of (2) i Ship motion resolution gre motion Distance S will be travelled i Divided into a plurality of lengths g i,j ＝gre motion Is a small segment path of (a) and node n i,j Where i=1, 2,..n, j=1, 2,.. i /gre motion )；
If each node n between the optimal node to be searched and the ith berthing node is i,j And if no collision occurs with the obstacle, reserving the ith berthing node, otherwise, discarding the ith berthing node.
7. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 1, wherein the method for determining the index of berthing start position and berthing end position under a rasterized map comprises:
the berthing start point comprises the geographic position (posx) of the berthing start point in the geodetic coordinate system start ,posy start ) And ship heading yaw start The berthing endpoint pose comprises the geographic position (posx) of the berthing endpoint in the geodetic coordinate system end ,posy end ) And ship heading yaw end The corresponding calculation formula converted into the index under the rasterized map is:
posxidx＝ceil(posx t /gre map +0.5)－1；
posyidx＝ceil(posy t /gre map +0.5)－1；
yawidx＝ceil[(yaw t +π)/gre yaw ]；
where ceil (·) represents rounding up floating point numbers, gre map For grid map resolution, gre yaw For the ship heading resolution, subscript t=start or end.
8. A method of planning an automatic berthing path for a vessel in consideration of vessel maneuvering characteristics according to any one of claims 1 to 7, further comprising:
smoothing the geographic positions of all nodes forming the optimal berthing planning path under a geodetic coordinate system, and determining berthing speed of all nodes according to the smoothed geographic positions and speed attributes of all nodes; and designing a ship motion controller according to the geographic position and the berthing speed of each node after smoothing to control the rudder angle and the rotating speed of a propeller of the ship, so as to realize the navigation of the ship according to the optimal berthing planning path.
9. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 8, wherein the calculation formula for smoothing the geographical position of each node constituting the optimal berthing path in the geodetic coordinate system is:
wherein J is a path smoothing objective function, w o Planning a penalty weight coefficient, x, of a path distance obstacle for optimal berthing u Planning the geographic position x of the u-th node on the path in the geodetic coordinate system for optimal berthing u ＝(posx u ,posy u ) N is the total number of nodes on the optimal berthing planning path, o u Dis, the geographical location of the obstacle nearest to the u-th node max Is the maximum allowable distance between the node and the obstacle, w κ Penalty weight coefficient, κ, for path curvature term for optimal berthing planning u For the curvature of the u-th node, κ max Is the maximum allowable curvature of the node, w s As penalty coefficient of smoothing term, Δx u The position vector of the current node, denoted as Δx u ＝x u -x u-1 ；
By deriving a path smoothing objective function J, application
And carrying out iterative correction on each node, wherein k is the iterative number.
10. The method for planning an automatic berthing path of a ship considering the maneuvering performance of the ship according to claim 8, wherein the method for determining berthing speed of each node according to the smoothed geographical position and speed attribute of each node comprises:
substituting the smoothed geographic position and velocity attribute of each node into the following solving coefficient k 3 、k 2 、k 1 、k 0 The calculation formula is as follows:
wherein inv (·) represents inverting the matrix; s is(s) u The path length from the (u-1) th node to the (u) th node is denoted as s u ＝||x u -x u-1 ||，x u Planning the geographic position x of the u-th node on the path in the geodetic coordinate system for optimal berthing u ＝(posx u ,posy u )；v u Berthing speed for the u-th node, including longitudinal speed velx u Transverse velocity vely u The calculation mode is v u ＝||velx u ,vely u ||；a u Berthing acceleration for the u-th node;
obtaining coefficient k 3 、k 2 、k 1 、k 0 And then, calculating the berthing speed of the (u+1) th node according to the following formula:
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