CN116594390A - Unmanned ship multi-target collision prevention method based on speed obstacle method and unmanned ship - Google Patents
Unmanned ship multi-target collision prevention method based on speed obstacle method and unmanned ship Download PDFInfo
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Abstract
The application discloses an unmanned ship multi-target collision prevention method based on a speed obstacle method and an unmanned ship, wherein the method comprises the following steps: a speed obstacle method for determining an unpublishable heading; the target obstacle region expansion method considering the collision avoidance rule increases the expansion region on the right side of the obstacle target when a meeting situation occurs; when the cross-meeting situation occurs, an expansion area is added in front of the obstacle target; a multi-target collision avoidance course selection method based on a wheel disc comprises the following steps: the initial course feasible region of the boat is marked; obtaining an expansion area of each obstacle target by using a target obstacle area expansion method considering collision avoidance rules, and obtaining an unviable course by using a speed obstacle method; and removing the non-passable course from the feasible domain of the course, and finally selecting a course as a final collision prevention correction course to perform collision prevention control. The application can realize the completion of the collision avoidance actions on single or multiple dynamic or static targets under the condition of considering the international offshore collision avoidance rule.
Description
Technical Field
The application belongs to the technical field of unmanned water surface craft navigation control, and particularly relates to a speed obstacle method-based unmanned water craft multi-target collision prevention method and an unmanned water craft.
Background
The unmanned surface vessel (Unmanned Surface Vehicle, USV) has received a great deal of attention as a surface vessel that is free of crew participation and is capable of autonomous navigation. The craft can be used for scientific researches such as ocean monitoring, hydrologic observation, biological research and the like, regional patrol, sea sweeping and the like, and can replace a manned boat to finish various boring and dangerous tasks.
In unmanned ship navigation control system, collision avoidance module is the important guarantee that can guarantee unmanned ship safety navigation under the marine environment of complicacy changeable. The speed obstacle method is widely applied to collision avoidance algorithms of intelligent agents, and can generate collision avoidance strategies for dynamic and static target obstacles in real time to avoid the obstacles. However, when the unmanned ship is sailing at sea, the international offshore collision avoidance rule needs to be considered, and certain constraint needs to be added to the speed barrier method. In addition, how to select a proper collision avoidance course is also a problem to be solved when a plurality of targets need to be simultaneously prevented from collision by the speed obstacle method.
Aiming at the two problems, the application provides a speed obstacle method-based unmanned ship multi-target collision avoidance method and an unmanned ship, which can realize the collision avoidance action on a single or a plurality of targets under the condition of considering the international offshore collision avoidance rule.
Disclosure of Invention
The application aims to provide a speed obstacle method-based unmanned ship multi-target collision prevention method and an unmanned ship, which can realize the collision prevention action on a single or a plurality of dynamic or static targets under the condition of considering the international offshore collision prevention rule so as to meet the requirement of the unmanned ship on offshore safe navigation.
The technical scheme of the application is as follows:
a speed obstacle method-based unmanned ship multi-target collision prevention method comprises the following steps:
(1) Speed disorder method
Establishing a coordinate system by taking the position of the boat as an origin, the heading direction as a y axis and the vertical heading direction as an x axis; let the speed of the boat be v 0 Obstacle target speed v t Obtaining the relative speed v of the boat and the obstacle target r ＝v 0 -v t The method comprises the steps of carrying out a first treatment on the surface of the Tangential line is made to the expansion area of the obstacle target by the position of the boat, and the obtained conical area is the relative speed obstacle cone; target navigational speed v t Translation to origin, and translation to v of the relative speed obstacle cone t The end, the new cone area obtained is the absolute speed obstacle cone;
the speed of the boat is |v by taking the position of the boat as the center of a circle 0 The I is a radius circle to obtain the speed ring of the boat; the intersection point of the absolute speed obstacle cone and the speed ring of the boat is the tail end of the correction speed, and the position of the boat is the beginning end of the correction speed; the included angle between the speed of the boat and the corrected speed is the non-passable course;
(2) Target obstacle region expansion method considering collision avoidance rules
When a meeting situation occurs, an expansion area is increased to the right of the obstacle target; when the cross-meeting situation occurs, an expansion area is added in front of the obstacle target;
(3) Multi-target collision avoidance course selection method based on wheel disc
The initial course feasible region of the boat is marked; taking the current course of the boat as the center, and dividing left and right by n degrees to serve as a feasible region of the course;
obtaining an expansion area of each obstacle target by using a target obstacle area expansion method considering collision avoidance rules, and obtaining an unviable course by using a speed obstacle method;
and removing the non-passable course from the feasible domain of the course, selecting a course from the feasible domain of the final course, and performing collision avoidance control as the final collision avoidance correction course.
Further, the obstacle target itself presents a safe inflation area.
Further, the circle center of the safety expansion area is the obstacle target position, and the radius is r.
Further, the expansion area is increased both to the right and to the front of the obstacle target.
Further, a desired heading closest to the current heading is selected from the last obtained heading feasible domain to be used as a final collision avoidance correction heading.
An unmanned ship, which adopts the unmanned ship multi-target collision prevention method based on the speed obstacle method.
Compared with the prior art, the application has the following advantages:
in order to enable the speed obstacle method to meet the requirement of the offshore collision avoidance rule, a target obstacle area expansion method considering the collision avoidance rule is designed, and the unmanned ship can preferentially select a route conforming to the international offshore collision avoidance rule to avoid a target ship by changing the obstacle area of the target, so that the principle is simple, flexible and reliable; aiming at the application problem of the speed obstacle method in a multi-target collision avoidance scene, the application provides a multi-target collision avoidance course selection method based on a wheel disc, and solves the problem of collision avoidance course selection of an unmanned ship when encountering a plurality of targets.
The unmanned aerial vehicle collision avoidance system can be deployed in an algorithm library of the unmanned aerial vehicle controller, is called by the unmanned aerial vehicle controller, and can be used for effectively avoiding collision of the unmanned aerial vehicle on the detected single or multiple targets during autonomous navigation, so that the navigation safety of the unmanned aerial vehicle during specific task execution is ensured. In addition, the application does not depend on the type of software and hardware of the autonomous controller, and can adopt a simulation platform to carry out the operation, debugging and evaluation of the algorithm.
Drawings
FIG. 1 is a schematic diagram of a speed obstacle method;
FIG. 2 is a schematic diagram of an absolute speed obstacle cone;
FIG. 3 is a schematic view of collision avoidance;
FIG. 4 is a schematic view of various collision avoidance conditions;
FIG. 5 is a schematic illustration of the starboard added expansion area of the target vessel;
FIG. 6 is a schematic illustration of an increased expansion area ahead of a target vessel;
FIG. 7 is a schematic diagram of a target obstacle expansion zone taking into account collision avoidance rules;
FIG. 8 is a schematic diagram of a special case of a encounter scenario;
FIG. 9 is a schematic diagram of a wheel-based collision avoidance heading selection method;
FIG. 10 is a flow chart of a method of unmanned aerial vehicle multi-target collision avoidance;
FIG. 11 is a graph of simulation test results for a meeting scenario;
FIG. 12 is a cross-scene simulation test result graph;
FIG. 13 is a graph of test results of a chase scene simulation;
fig. 14 is a graph of the test results of the real boat.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. In addition, the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
The application adopts a speed obstacle method widely used by an intelligent collision avoidance system, and judges whether the collision avoidance system is needed to intervene or not and calculates a feasible angle by calculating the speed obstacle cones of the ship and the target. Aiming at the problem that the unmanned ship on the water surface needs to consider the collision avoidance rule when sailing on the sea, the application designs a target obstacle area expansion method considering the collision avoidance rule in a speed obstacle method. Aiming at the application problem of the speed obstacle method in a multi-target collision avoidance scene, the application provides a multi-target collision avoidance course selection method based on a wheel disc, and solves the problem of collision avoidance course selection of an unmanned ship when encountering a plurality of targets. And finally, transmitting the collision avoidance course value calculated by the collision avoidance method to a power control module to finish the collision avoidance operation of the unmanned ship.
The application relates to a speed obstacle method-based unmanned ship multi-target collision prevention method, which comprises the following steps:
(1) Speed disorder method
The core algorithm of the collision avoidance method adopts a speed obstacle method (Velocity Obstacle Algorithm, VO), the basic principle is to establish a speed obstacle cone, judge whether the relative speed is in the speed obstacle cone, and determine whether the speed needs to be adjusted and how to be adjusted. The principle of the speed barrier method applicable to ships is as follows.
The principle of the speed obstacle method is shown in figure 1, wherein the coordinate system in the figure takes the boat as an origin, the heading direction is the y axis, and the speed of the boat is v 0 Obstacle target speed v t The target safe expansion distance is r, the tangent line is made to the target safe expansion area by the position of the boat, and the obtained cone area is the relative speed obstacle cone (Relative Collision Cone, RCC). Collision avoidance decision is performed by using a relative speed obstacle cone, and the relative speed of the boat and the target is v r The method comprises the following steps:
v r ＝v 0 -v t (1)
when the relative velocity v r When the collision avoidance device falls into the relative speed obstacle cone, collision risk exists when the collision avoidance device continues to navigate in the current state, namely collision avoidance operation is needed. Navigational speed v of target ship t Translation to origin, and then translation of RCC to v t The resulting new cone area is the absolute speed obstacle cone (Absolute Collision Cone, ACC) as shown in fig. 2.
Since there are many situations when the relative speed is directed to a speed obstacle cone, an ACC is taken as an example below to list a few typical situations.
As shown in fig. 3, P 0 For the position of the boat, P is 0 The speed of the boat is |v as the center of a circle 0 The circle is formed by the radius of I, v t The relative velocity with the end as the starting point cannot fall into the ACC, so the collision prevention velocity v 'of the boat' 0 Should be the intersection of ACC with the circle, as in FIG. 3, two blue vectors, v 0 With v' 0 The rotation angle of the model is the course change angle given by the collision avoidance algorithm. Wherein v' 0 The selection of (2) can be based on collision avoidance rules or can be determined by minimum cost.
In addition to this, there is also v as shown in FIG. 4 t Greater than v 0 There are three and four crossing points, but the principle is similar to the speed selection, and detailed analysis is not repeated.
(2) Target obstacle region expansion method considering collision avoidance rule
In actual navigation, the unmanned ship can meet three collision avoidance scenes, namely a meeting, a crossing and a chasing, and according to the second chapter of the international maritime collision avoidance rule, thirteenth to fifteen collision avoidance scenes can take the following actions:
(1) to the situation: when two vessels meet in opposite or near opposite heading directions so as to constitute a collision risk, each should be turned right so that each passes from the port side of the other vessel.
(2) Cross-meeting situation: when two motor vessels cross each other so as to form a collision risk, the ship with the ship on the starboard side of the ship should give way to the ship, and the ship should be prevented from crossing the front of the ship if the environment permits.
(3) Pursuing: any vessel should give way to the tracked vessel when it is to track over any other vessel.
When the speed obstacle method is utilized, the international offshore collision avoidance rule can be integrated into the collision avoidance strategy by changing the expansion area of the obstacle target. It can be understood from the content of the collision avoidance rule that when a collision situation occurs, the target ship should travel from the port side as much as possible, so that the target ship can pass from the port side preferentially by increasing the area of the expansion area, for example, increasing a circular obstacle area with a radius q at the distance p in the starboard direction of the target ship, so as to increase the cost of left turning, and the expansion area is shown in fig. 5.
When the cross meeting situation occurs, the situation of crossing the front of the ship should be avoided as much as possible, so that the collision avoidance priority can be realized by increasing the area of an expansion area in front of the target ship, for example, a circular obstacle area with the radius q is increased at the position of the distance p in front of the target ship, the area can also be determined according to the target navigational speed, the cost of the unmanned ship passing through the front of the target ship is increased, and the collision avoidance priority can be realized through the rear of the target, and the expansion area is shown in fig. 6.
In combination with the two cases, the target ship obstacle expansion area in the final speed obstacle method is shown in fig. 7, and the international maritime collision avoidance rule is integrated into a collision avoidance algorithm. The advantages of realizing the collision avoidance rule through the expansion area are as follows: 1) The real-time performance is good, the principle is simple, complex calculation is not needed, and the implementation is easy; 2) The method is stable and reliable, and the course swing oscillation phenomenon caused by complex judgment can not occur; 3) The existence of the expansion zone is a priority to the collision avoidance decision system, and does not completely prohibit the passing of the target from the front or starboard, for example, in a meeting scene, when the boat position is originally at a position far from the starboard of the target boat and the distance difference is larger than the forward expansion distance of the target boat, the boat can be considered to pass directly from the starboard of the target boat, and the passing of the boat from the port of the target boat is not necessary, as shown in fig. 8.
(3) Multi-target collision avoidance course selection method based on wheel disc
When a plurality of obstacle targets are encountered, the speed obstacle method performs a collision avoidance calculation on each target, and each calculation obtains one to four corrected heading, but there may be a conflict in the heading, such as the corrected heading of the first target may fall into the speed obstacle cone of the second target, which may lead to occurrence of collision danger. Therefore, the application provides a multi-target collision avoidance course selection method based on a wheel disc, which solves the problem of collision avoidance of a plurality of targets. The method comprises the following specific processes:
(1) the initial heading feasible region of the boat is defined, the current heading of the boat is taken as the center, n degrees are respectively defined on the left and the right, for example, the heading of the boat is positive north 0 degrees, 120 degrees are respectively defined on the left and the right as the heading feasible region omega, namely omega= { x|0 is less than or equal to x is less than or equal to 120,240 is less than or equal to x <360}.
(2) And calculating a speed obstacle method for each target, wherein an intersection point of the absolute speed obstacle cone ACC and the speed ring of the boat is obtained during each calculation, as shown in the figure 3, the tail ends of two blue correction speeds, and the included angle between the two speeds is the non-passable course.
(3) And deleting the calculated non-passable course from the course feasible region omega.
(4) And selecting the expected heading closest to the current heading from the last obtained heading feasible domain, taking the expected heading as the final collision avoidance correction heading, and returning the final collision avoidance correction heading to the control end to finish collision avoidance control.
As shown in fig. 9, when the unmanned ship encounters two target obstacles during navigation, after the speed obstacle cone is overlapped with the unmanned ship through speed obstacle method calculation, two non-passable course areas can be defined, namely (348 degrees, 360 degrees) U [0 degrees, 34 degrees and (105 degrees, 138 degrees), the current course falls into the non-passable course area, collision avoidance operation is needed, 348 degrees is selected as the current collision avoidance course according to the minimum cost principle, and the current collision avoidance course is sent to the power control module, so that the collision avoidance operation is completed.
The target obstacle area expansion method considering the collision avoidance rule and the multi-target collision avoidance course selection method based on the wheel disk are combined into the speed obstacle method, and whether the collision avoidance system is needed to intervene or not and the feasible angle is calculated by calculating the speed obstacle cones of the ship and the target. By using the target obstacle area expansion method considering the collision avoidance rule, the obstacle area of the target is changed, so that the unmanned ship can preferentially select a route conforming to the international maritime collision avoidance rule to avoid the target ship. Through the multi-target collision avoidance course selection method based on the wheel disc, when the unmanned ship encounters a plurality of obstacle targets, the proper collision avoidance course can be selected. And finally, transmitting the collision avoidance course value calculated by the collision avoidance method to a power control module to finish the collision avoidance operation of the unmanned ship.
Examples:
as shown in fig. 10, the implementation process of the present application is as follows:
(1) Parameter setting
And setting parameters required by the application according to the motion model and the size of the applied unmanned ship. One embodiment of the parameters is as follows: r=50m, n=120, p=50m, q=50m.
(2) Perception information and navigation information receiving
And sending target information perceived by each sensor of the unmanned ship and navigation information of the unmanned ship to the algorithm, wherein the target perception information comprises the position, the speed and the course of each target, and the navigation information comprises the current position, the speed and the course of the unmanned ship.
(3) Expansion of the obstructed area
After the target perception information is obtained, generating obstacle regions of all the targets by a target obstacle region expansion method considering the collision avoidance rule according to the navigational speed and the navigational direction of the targets. The obstacle area increases the obstacle area of the target part according to the collision avoidance rule, so that the purpose of integrating the collision avoidance rule into an algorithm is achieved.
(4) Non-passable zone calculation
After the obstacle area of each target is obtained, calculating the speed obstacle cone of each target by a speed obstacle method, and superposing the navigation speed and heading information of the ship and the speed obstacle cone to obtain an unvented area.
(5) Expected heading calculation
And after the infeasible areas are obtained, superposing the infeasible areas of a plurality of targets on the course wheel disc by using a multi-target collision avoidance course selection method based on the wheel disc, and selecting the course with the minimum cost from the last passable area as the current expected course of the boat.
(6) Instruction issue
And finally, sending the current expected course of the unmanned ship to a power control unit to realize collision avoidance steering of the unmanned ship and finish collision avoidance action of the unmanned ship.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of operations of the steps/components may be combined into new steps/components, according to the implementation needs, to achieve the object of the present application.
Simulation test:
the application is applied to an unmanned ship simulation platform, the simulation platform can receive the control quantity sent by a control system, and the simulation platform feeds back the navigation information and the target obstacle information of the ship through calculation simulation, and carries out simulation joint debugging test aiming at the offshore meeting, crossing and overtaking scenes, wherein the test result is as follows, the ship is the ship, and the arrow is the target obstacle.
Fig. 11 is a view of a contrast scene simulation test result, fig. 12 is a view of a cross scene simulation test result, and fig. 13 is a view of a chase scene simulation test result.
And (3) testing a real boat:
after the simulation test is completed, the algorithm is deployed on a certain unmanned ship, the real ship verification is carried out on the application in a certain water area, the real ship test is carried out on the straight-line path single-target obstacle avoidance, the multi-target obstacle avoidance and the circular path single-target and multi-target obstacle avoidance, as shown in fig. 14, the test result shows that the application can smoothly avoid single or multiple obstacle targets, the collision avoidance action is completed, the application returns to the path after the collision avoidance is completed, and the feasibility and the effectiveness of the application are verified.
It will be readily appreciated by those skilled in the art that the foregoing is merely a preferred embodiment of the application and is not intended to limit the application, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (6)
1. The unmanned ship multi-target collision prevention method based on the speed obstacle method is characterized by comprising the following steps of:
(1) Speed disorder method
Establishing a coordinate system by taking the position of the boat as an origin, the heading direction as a y axis and the vertical heading direction as an x axis; let the speed of the boat be v 0 Obstacle target speed v t Obtaining the relative speed v of the boat and the obstacle target r ＝v 0 -v t The method comprises the steps of carrying out a first treatment on the surface of the Tangential line is made to the expansion area of the obstacle target by the position of the boat, and the obtained conical area is the relative speed obstacle cone; target navigational speed v t Translation to origin, and translation to v of the relative speed obstacle cone t The end, the new cone area obtained is the absolute speed obstacle cone;
the speed of the boat is |v by taking the position of the boat as the center of a circle 0 The I is a radius circle to obtain the speed ring of the boat; the intersection point of the absolute speed obstacle cone and the speed ring of the boat is the tail end of the correction speed, and the position of the boat is the beginning end of the correction speed; the included angle between the speed of the boat and the corrected speed is the non-passable course;
(2) Target obstacle region expansion method considering collision avoidance rules
When a meeting situation occurs, an expansion area is increased to the right of the obstacle target; when the cross-meeting situation occurs, an expansion area is added in front of the obstacle target;
(3) Multi-target collision avoidance course selection method based on wheel disc
The initial course feasible region of the boat is marked; taking the current course of the boat as the center, and dividing left and right by n degrees to serve as a feasible region of the course;
obtaining an expansion area of each obstacle target by using a target obstacle area expansion method considering collision avoidance rules, and obtaining an unviable course by using a speed obstacle method;
and removing the non-passable course from the feasible domain of the course, selecting a course from the feasible domain of the final course, and performing collision avoidance control as the final collision avoidance correction course.
2. The unmanned ship multi-target collision avoidance method based on the speed obstacle method according to claim 1, wherein the obstacle target itself has a safe expansion area.
3. The unmanned ship multi-target collision avoidance method based on the speed obstacle method according to claim 2, wherein the center of the safety expansion area is the obstacle target position, and the radius is r.
4. The unmanned ship multi-target collision avoidance method based on the speed obstacle method according to claim 1, wherein the expansion area is increased together in the right and front of the obstacle target.
5. The unmanned ship multi-target collision avoidance method based on the speed obstacle method according to claim 1, wherein a desired heading closest to the current heading is selected from the last obtained heading feasible domain as a final collision avoidance corrected heading.
6. An unmanned ship, which is characterized in that the unmanned ship adopts the unmanned ship multi-target collision prevention method based on the speed obstacle method according to any one of claims 1 to 5.
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