CN116627145A - Autonomous navigation control method and system for unmanned pleasure boat - Google Patents
Autonomous navigation control method and system for unmanned pleasure boat Download PDFInfo
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Abstract
The application relates to an autonomous navigation control method and an autonomous navigation control system for an unmanned pleasure boat, wherein the method comprises the following steps: controlling the unmanned pleasure boat to run a pre-constructed running route to acquire running information; marking the global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route; smoothing the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters; calculating the speed corresponding to the route point in the target route based on the running information and the target parameter to obtain a target speed sequence; inputting the target route and the target speed sequence into a motion controller of the controller to calculate a reference state and a current state of the controller; the sum of the output of the motion controller and the output of the model reference adaptive controller is applied to the unmanned pleasure boat to track the desired trajectory of the unmanned pleasure boat. The application improves the accuracy of unmanned pleasure boat control.
Description
Technical Field
The application relates to the technical field of unmanned pleasure boats, in particular to an autonomous navigation control method and an autonomous navigation control system for an unmanned pleasure boat.
Background
Currently, unmanned ships have been widely used in the fields of daily life and production. An important goal of the unmanned ship is to realize high unmanned, and has the functions of autonomous return and navigation control. And unmanned ship cooperation charge ship storehouse, can realize 24 hours high unmanned operation.
However, for unmanned pleasure boats with higher automation, the water environment is more complex than the traditional land environment, and the volume and weight are larger than those of unmanned boats, which presents a greater challenge for control. The existing unmanned ship control method is difficult to plan and accurately control according to a complex water running environment, and is mainly due to the following factors: greater inertia, greater time lag, etc. Because the volume and the weight of the pleasure boat are large, the acceleration and the steering speed of the pleasure boat in water are slow relative to that of the unmanned boat, and the time lag of signal transmission and processing is large, a certain delay exists between a control instruction and actual execution, so that the unmanned pleasure boat is more complex to control, the deviation of a driving route is large, and accurate control is difficult to realize.
Disclosure of Invention
The embodiment of the application aims to provide an autonomous navigation control method and an autonomous navigation control system for an unmanned pleasure boat, so as to avoid the problem of deviation of a controlled travel route of the unmanned pleasure boat and improve the control accuracy of the unmanned pleasure boat.
In order to solve the above technical problems, an embodiment of the present application provides an autonomous navigation control method for an unmanned pleasure boat, including:
controlling an unmanned pleasure boat to run a pre-constructed running route, and acquiring running information of the unmanned pleasure boat in the running process, wherein the running information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat;
carrying out route point marking on the global route to be driven by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route;
carrying out smoothing treatment on the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance between the route points and expected speed of the route points;
calculating the speed corresponding to the route points in the target route based on the running information and the target parameters to obtain a target speed sequence, wherein the target speed sequence comprises a target speed corresponding to each route point in the target route;
Inputting the target route and the target speed sequence into a motion controller of a controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller;
and generating an output of the motion controller based on the gain of the controller, acquiring an output of a model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat to track a track required by the unmanned pleasure boat.
In order to solve the above technical problems, an embodiment of the present application provides an autonomous navigation control system of an unmanned pleasure boat, including:
the system comprises a travel information unit, a travel control unit and a control unit, wherein the travel information unit is used for controlling an unmanned pleasure boat to run a pre-constructed travel route and acquiring travel information of the unmanned pleasure boat in the travel process, and the travel information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat;
the global route intercepting unit is used for marking route points of a global route to be traveled by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route;
The target parameter calculation unit is used for carrying out smoothing processing on the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance of the route points and expected speed of the route points;
a target speed sequence calculation unit, configured to calculate a speed corresponding to a route point in the target route based on the driving information and the target parameter, to obtain a target speed sequence, where the target speed sequence includes a target speed corresponding to each route point in the target route;
a controller gain calculation unit for inputting the target route and the target speed sequence into a motion controller of a controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller;
and the unmanned pleasure boat track tracking unit is used for generating the output of the motion controller based on the gain of the controller, acquiring the output of the model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat so as to track the track required by the unmanned pleasure boat.
The embodiment of the invention provides an autonomous navigation control method and an autonomous navigation control system for an unmanned pleasure boat. The method comprises the following steps: controlling the unmanned pleasure boat to run a pre-constructed running route, and acquiring running information of the unmanned pleasure boat in the running process, wherein the running information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat; marking route points of a global route to be driven by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route; smoothing the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance between the route points and expected speed of the route points; calculating the speed corresponding to the route points in the target route based on the running information and the target parameters to obtain a target speed sequence, wherein the target speed sequence comprises target speeds corresponding to each route point in the target route; inputting the target route and the target speed sequence into a motion controller of the controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller; and generating an output of the motion controller based on the gain of the controller, acquiring an output of the model reference adaptive controller, and applying the output of the motion device and the output of the model reference adaptive controller to the unmanned pleasure boat to track a track required by the unmanned pleasure boat. The embodiment of the invention marks and intercepts the global route to be travelled by the unmanned pleasure boat to obtain the local route, calculates the speed of each route point according to the local route, thereby obtaining the accurate route planning of the unmanned pleasure boat, and simultaneously accurately controls the unmanned pleasure boat based on the route planning through the controller, thereby avoiding the problem of deviation of the travelled route of the controlled unmanned pleasure boat and being beneficial to improving the accuracy of the control of the unmanned pleasure boat.
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In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for the description of the embodiments of the present application, it being apparent that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without the exercise of inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flowchart of an implementation of a method for autonomous navigational control of an unmanned cruise ship according to an embodiment of the present application;
FIG. 2 is a flowchart of an implementation of a sub-process of the autonomous navigational control method of the unmanned cruise ship according to an embodiment of the present application;
FIG. 3 is a flowchart of still another implementation of a sub-process of the autonomous navigational control method of the unmanned cruise ship provided by the embodiment of the application;
FIG. 4 is a flowchart of still another implementation of the autonomous navigational control method of the unmanned cruise ship provided by the embodiment of the present application;
FIG. 5 is a flowchart of still another implementation of a sub-process of the autonomous navigational control method of the unmanned cruise ship provided by the embodiment of the application;
FIG. 6 is a flowchart of still another implementation of a sub-process of the autonomous navigational control method of the unmanned cruise ship provided by the embodiment of the application;
FIG. 7 is a flowchart of still another implementation of the autonomous navigational control method of the unmanned cruise ship provided by the embodiment of the present application;
FIG. 8 is a schematic diagram of a nonlinear adaptive motion controller according to an embodiment of the present application;
fig. 9 is a schematic diagram of an autonomous navigational control system of an unmanned pleasure boat according to an embodiment of the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to make the technical solution of the present application better understood by those skilled in the art, the following description will make clear and complete descriptions of the technical solution in the embodiments of the present application with reference to the accompanying drawings.
The present application will be described in detail with reference to the drawings and embodiments.
It should be noted that, the autonomous navigation control method of the unmanned pleasure boat provided by the embodiment of the application is generally executed by the gateway of the internet of things.
Referring to fig. 1, fig. 1 illustrates one embodiment of a method for autonomous navigational control of an unmanned cruise ship.
It should be noted that, if there are substantially the same results, the method of the present application is not limited to the flow sequence shown in fig. 1, and the method includes the following steps:
s1: and controlling the unmanned pleasure boat to run a pre-constructed running route, and acquiring running information of the unmanned pleasure boat in the running process, wherein the running information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat.
Specifically, the power characteristics of the unmanned pleasure boat are determined by controlling the unmanned pleasure boat to travel a specific route and establishing a kinematic and dynamic model of the unmanned pleasure boat, wherein the power characteristics are the travel information of the unmanned pleasure boat, and the travel information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat.
Wherein, the kinematic equation of the unmanned pleasure boat can be expressed as:；
where u represents the longitudinal velocity of the unmanned pleasure boat, v represents the transverse velocity of the unmanned pleasure boat, and represents the angle of the travel direction of the unmanned pleasure boat.
The dynamics model of an unmanned cruise ship can be described by a nonlinear differential equation:；
wherein, the liquid crystal display device comprises a liquid crystal display device,representing a positively symmetric additional mass and inertia matrix; />A diagonal symmetry matrix representing coriolis and centripetal forces; />Representing a semi-positive definite resistance matrix value function, +.>Comprising a two-dimensional force F and a one-dimensional moment exerted on an unmanned ship>。/>The definition is as follows: />，/>Expressed as: />；
Where u represents the longitudinal velocity of the unmanned cruise ship and v represents the transverse velocity of the unmanned cruise ship.
Further, controlling the unmanned pleasure boat accelerator to enable the ship to run along a sinusoidal route (a pre-constructed running route), collecting the sinusoidal routes with different amplitudes and different frequencies, and determining undetermined parameters M, D (v) in a dynamics equation. And physical quantities such as maximum speed, acceleration, jerk and the like of the unmanned pleasure boat are recorded.
S2: and marking route points of the global route to be driven by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route.
Specifically, the step S1 is to collect the travel information of the unmanned pleasure boat, and in the subsequent steps, to plan and control the actual travel route of the unmanned pleasure boat. In an actual driving scene of the unmanned pleasure boat, acquiring a global route expected to be driven by the unmanned pleasure boat (namely, a global route to be driven by the unmanned pleasure boat), marking route points of the global route to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route.
Referring to fig. 2, fig. 2 shows a specific embodiment of step S2, which is described in detail as follows:
s21: and marking route points of the global route to be driven by the unmanned pleasure boat according to the preset marking distance to obtain a marked global route.
S22: and acquiring the current position of the unmanned pleasure boat, and taking the route point closest to the current position in the marked global route as an initial route point.
S23: and calculating the distance between every two adjacent route points after the starting route point in the marked global route to obtain a plurality of adjacent distances.
S24: and when the accumulated value of the adjacent distances is larger than the preset intercepting length, acquiring the tail point route point.
S25: and intercepting the marked global route according to the starting route point and the tail point route point to obtain a local route.
Specifically, according to a preset marking interval, marking route points of a global route to be traveled by the unmanned pleasure boat, and obtaining a marked global route. The preset mark pitch is set according to practical situations, and is not limited herein. The closest point to the current position of the unmanned pleasure boat is then found from the global route as the starting route point. And calculating the distance between every two subsequent route points from the initial route point, sequentially taking the route points backwards from the initial route point, accumulating the distance between every two route points, and taking the last route point as the tail point route point when the accumulated route distance is larger than the preset intercepting length. And finally, intercepting the marked global route according to the starting route point and the tail point route point to obtain a local route.
S3: and carrying out smoothing processing on the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance between the route points and expected speed of the route points.
Referring to fig. 3, fig. 3 shows a specific embodiment of step S3, which is described in detail as follows:
s31: and smoothing the local route through a smoother to obtain a target route.
Specifically, the global route has been marked by the above steps, so that each marking information is also present in the local route, and each marking point can be regarded as a route point or a control point, that is, the local route is composed of a plurality of route points. And carrying out smoothing processing by a smoother based on each route point to obtain an optimized local route, namely obtaining the target route.
S32: the tangential angle of each route point in the target route is calculated, and the angular difference between tangential angles of adjacent route points is calculated.
S33: and calculating Euclidean distance between adjacent route points in the target route to obtain the route point distance.
S34: and dividing the angle difference with the corresponding route point to obtain the curvature of the route point.
S35: based on the route point curvature, a desired speed of the route point is calculated, and the desired speed of the route point, the route point curvature, and the route point distance are taken as target parameters.
Specifically, the tangential angle of each route point is calculated by the following formula: ；
Wherein, the liquid crystal display device comprises a liquid crystal display device,tangential angle to the route point; />Coordinates of the route point P; />、/>Is the coordinates of the route point p+1.
Further, after calculating the tangential angle of each route point, the angle difference between the tangential angles of the adjacent route points is calculatedThen, the Euclidean distance between the adjacent route points in the target route is calculated to obtain the route point distance +.>Then, the angle difference is divided with the corresponding route point to obtain the curvature +.>. And finally, calculating the expected speed of the route point based on the curvature of the route point, and taking the expected speed of the route point, the curvature of the route point and the distance of the route point as target parameters.
Referring to fig. 4, fig. 4 shows a specific embodiment of step S35, which is described in detail as follows:
s351: and acquiring the steering acceleration of the unmanned pleasure boat according to the curvature of the route points.
S352: the curvature of the route point and the steering acceleration are calculated based on a circular motion formula, and the expected speed of the route point is calculated.
S353: the desired speed of the route point, the curvature of the route point, and the distance of the route point are used as target parameters.
Specifically, according to the curvature of the route point, the steering acceleration a of the unmanned pleasure boat is obtained, and the linear speed which meets the curvature of the route point and the steering acceleration can be calculated. When the unmanned pleasure boat moves in a curve, each small displacement can be approximately circular motion, and the displacement can be obtained by a circular motion formula:
Where a is the steering acceleration,for the curvature of the route points>Is the desired speed of the route point.
S4: and calculating the speed corresponding to the route points in the target route based on the driving information and the target parameters to obtain a target speed sequence, wherein the target speed sequence comprises the target speed corresponding to each route point in the target route.
Referring to fig. 5, fig. 5 shows a specific embodiment of step S4, which is described in detail as follows:
s41: and comparing the difference value of the curvature of the adjacent route points with a preset threshold value in sequence to obtain a target index.
Specifically, adjacent route point curvatures are subjected to pairwise difference in sequence, and indexes with difference values larger than a preset threshold A are selectedI.e. based on->And acquiring a target index. The preset threshold a is set according to the actual situation, and is not limited herein.
S42: and calculating the speed change driving distance of the unmanned pleasure boat based on the target index and the driving information, wherein the speed change driving distance comprises an acceleration driving distance and a deceleration driving distance.
Referring to fig. 6, fig. 6 shows a specific embodiment of step S42, which is described in detail as follows:
s421: and acquiring the initial speed and the target speed corresponding to the target index of the maximum speed difference.
S422: based on the initial speed, the target speed, and the jerk, it is determined whether the unmanned cruise ship can reach a maximum acceleration.
S423: and if the unmanned pleasure boat fails to reach the maximum acceleration, acquiring the maximum acceleration and the maximum speed which can be reached by the current unmanned pleasure boat, and calculating the variable speed driving distance of the unmanned pleasure boat based on the maximum acceleration and the maximum speed which can be reached by the current unmanned pleasure boat.
S424: if the unmanned pleasure boat can reach the maximum acceleration, respectively calculating the time used by the unmanned pleasure boat in the acceleration adding stage, the uniform acceleration movement stage and the acceleration subtracting stage to obtain target time, and calculating the variable speed driving distance of the unmanned pleasure boat based on the target time.
In particular, the above steps have obtained a maximum speed of the unmanned shipMaximum acceleration->Acceleration J is applied. In the embodiment of the application, the initial speed corresponding to the target index for obtaining the maximum speed difference is +.>And a target speed。
If it isThe unmanned cruise ship fails to reach the maximum acceleration, and at this time, the unmanned cruise ship performs a jerk (acceleration with increased acceleration) phase and a jerk (acceleration with decreased acceleration) phase.
Then the two-phase time is at this point (the point in time is considered to be 0 at start-up): ；
Maximum acceleration achievable at this stageMaximum speed +.>The method comprises the following steps:
;
the overall acceleration or deceleration phase path length s (shift travel distance) at this time is:。
if it isThe unmanned pleasure boat can be addedThe maximum speed, at this time, is three phases 1. Jerk (acceleration with increased acceleration) phase 2. Jerk motion phase 3. Jerk (acceleration with reduced acceleration) phase.
The time (target time) taken by the three stages is: then the overall route length s (shift travel distance) at this time is: />。
S43: and generating an objective function of the unmanned pleasure boat according to the variable speed driving distance and the driving information.
Specifically, embodiments of the present application have known the initial speed of each shift pointTarget speed->Speed change travel distance s, maximum acceleration +.>Acceleration J is applied. The speed, position and function of time t, namely v (t) function and S (t) function, can be calculated from seven segments of S-type speed curves. The specific objective function is as follows:
；
；
further, the speed corresponding to the route point in the target route is solved by using the objective function.
S44: and calculating the speed corresponding to the route point in the target route according to the objective function to obtain a target speed sequence.
Referring to fig. 7, fig. 7 shows a specific embodiment of step S44, which is described in detail as follows:
s441: and acquiring adjacent speeds corresponding to each target index, and judging the speed change state of the unmanned pleasure boat based on the adjacent speeds, wherein the adjacent speeds comprise the speed at the target index and the speed at the next position of the target index.
S442: and if the unmanned pleasure boat is in an acceleration state, acquiring the extending distance of the route point corresponding to the speed at the target index to the direction opposite to the movement direction of the unmanned pleasure boat as a first extending distance.
S443: and calculating the speed corresponding to the route point in the target route based on the first extension distance and the objective function to obtain a target speed sequence.
S444: and if the unmanned pleasure boat is in a deceleration state, acquiring the distance from the route point corresponding to the one speed after the target index to the direction opposite to the movement direction of the unmanned pleasure boat as a second extension distance.
S445: and calculating the speed corresponding to the route point in the target route based on the second extension distance and the objective function to obtain a target speed sequence.
In particular, ifThe unmanned pleasure boat is in an accelerating state at this time, and in order to ensure the smoothness of acceleration, the unmanned pleasure boat is driven by ∈>The corresponding route point extends s (first extending distance) in the direction opposite to the moving direction, the index n at the moment is selected as the starting acceleration point, and the t=0 moment of the corresponding speed curve at the moment is considered as +. >And taking the corresponding route points as tail points of the acceleration stage, taking each route point into an S (t) function, solving t reversely, and taking t at the moment into a v (t) function to obtain the corresponding speed of each route point.
If it isThen no pleasure boat is used at this timeIn a decelerating movement, from->The corresponding route point extends s (second extending distance) towards the direction of movement, and the index n after the distance of the second extending distance s is taken as the tail point of the deceleration stageAnd taking the corresponding route points as the time of the speed curve t=0, taking each route point into an S (t) function, solving t in an inverse way, and taking t into a v (t) function at the moment to obtain the corresponding speed of each route point.
S5: the target route and the target speed sequence are input into a motion controller of the controller to calculate a reference state and a current state of the controller, and the reference state and the current state are input into a neural network of the controller to calculate a gain of the controller.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a nonlinear adaptive motion controller according to an embodiment of the application.
In particular, since wind and wave disturbances are large in disturbance to large unmanned pleasure vessels and the disturbance tends to be random, a nonlinear adaptive motion controller is proposed whose parameters are adjusted on-line using a neural network, while in order to maintain the required performance under external disturbance and unmodeled parameter uncertainty, a model reference adaptive controller is also added to the proposed control strategy, which ensures that the system follows the reference model.
In the embodiment of the application, a target route and a target speed sequence are input into a motion controller of the controller to calculate a reference state of the controllerAnd the current state->。
Further, the target route and target velocity sequence are input to a closed loop tracking system that employs a motion controller as shown in the following equation to generate the desired angular and linear velocity profiles for tracking the reference trajectory. The motion controller is as follows:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,is the distance between the propellers of the unmanned pleasure boat, < >>And->Is a saturation constant->Is a desired +.>Position and reality->Difference between positions->Is an unmanned pleasure boat expects->Position and actual->Difference between positions->And->Is the controller gain.
Then the reference state is takenAnd the current state->In a neural network of the controller to calculate the gain of the controller>And->. Wherein->For the desired gesture on the target route +.>Current pose and current pose。
S6: and generating an output of the motion controller based on the gain of the controller, acquiring an output of the model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat to track a track required by the unmanned pleasure boat.
Specifically, the controller gain to be determined by the neural networkAnd->Is transmitted to a motion controller, which generates a control output +.>。
Further, the model reference adaptive controller minimizes the error between the reference model and the actual model, and ensures that the output of the controlled object is consistent with the output of the reference model. Thus for a conventional trajectory tracking controller the initial error would be very high and therefore the controller would need to have a high adaptive gain, but this may lead to a large overshoot with consequent oscillation response. To avoid such problems, by employing a closed loop mode with an LQR controllerThe model serves as a reference model. The goal of a model reference adaptive controller is to ensure that the output of the controlled object coincides with the output of the reference model, which can be achieved by minimizing the error between the plant output and the reference model, the adaptive controller generating the control output. Finally the control output will be generated by the motion controller +.>And a model reference adaptive controller for generating a control output +.>And to be applied to unmanned pleasure boats to track the trajectory required by the unmanned pleasure boat.
In the embodiment of the application, the unmanned pleasure boat is controlled to run a pre-constructed running route, and running information of the unmanned pleasure boat in the running process is obtained, wherein the running information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat; marking route points of a global route to be driven by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route; smoothing the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance between the route points and expected speed of the route points; calculating the speed corresponding to the route points in the target route based on the running information and the target parameters to obtain a target speed sequence, wherein the target speed sequence comprises target speeds corresponding to each route point in the target route; inputting the target route and the target speed sequence into a motion controller of the controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller; and generating an output of the motion controller based on the gain of the controller, acquiring an output of the model reference adaptive controller, and applying the output of the motion device and the output of the model reference adaptive controller to the unmanned pleasure boat to track a track required by the unmanned pleasure boat. The embodiment of the application marks and intercepts the global route to be travelled by the unmanned pleasure boat to obtain the local route, calculates the speed of each route point according to the local route, thereby obtaining the accurate route planning of the unmanned pleasure boat, and simultaneously accurately controls the unmanned pleasure boat based on the route planning through the controller, thereby avoiding the problem of deviation of the travelled route of the controlled unmanned pleasure boat and being beneficial to improving the accuracy of the control of the unmanned pleasure boat.
Referring to fig. 9, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a curve reverse warehouse system of an unmanned pleasure boat, where the embodiment of the system corresponds to the embodiment of the method shown in fig. 1, and the system may be specifically applied to a control system of an unmanned pleasure boat.
As shown in fig. 9, the curve reverse warehouse system of the unmanned pleasure boat of the present embodiment includes: a travel information unit 71, a global route interception unit 72, a target parameter calculation unit 73, a target speed sequence calculation unit 74, a controller gain calculation unit 75, and an unmanned cruise ship trajectory tracking unit 76, wherein:
a travel information unit 71 for controlling the unmanned pleasure boat to travel the travel route constructed in advance and acquiring travel information of the unmanned pleasure boat during travel, wherein the travel information includes a maximum speed, a maximum acceleration and a jerk of the unmanned pleasure boat;
the global route intercepting unit 72 is configured to perform route point marking on a global route to be traveled by the unmanned pleasure boat, obtain a marked global route, and intercept the marked global route based on a current position of the unmanned pleasure boat, so as to obtain a local route;
a target parameter calculating unit 73, configured to perform smoothing processing on the local route to obtain a target route, and calculate parameters of route points in the target route to obtain target parameters, where the target parameters include a curvature of the route points, a distance between the route points, and a desired speed of the route points;
A target speed sequence calculating unit 74, configured to calculate a speed corresponding to a route point in a target route based on the driving information and the target parameter, so as to obtain a target speed sequence, where the target speed sequence includes a target speed corresponding to each route point in the target route;
a controller gain calculation unit 75 for inputting the target route and the target speed sequence into the motion controller of the controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into the neural network of the controller to calculate a gain of the controller;
and an unmanned pleasure-boat trajectory tracking unit 76 for generating an output of the motion controller based on the gain of the controller, acquiring the output of the model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat to track a trajectory required by the unmanned pleasure boat.
Further, the global route interception unit includes:
the global route marking unit is used for marking route points of a global route to be driven by the unmanned pleasure boat according to a preset marking interval to obtain a marked global route;
The starting route point determining unit is used for obtaining the current position of the unmanned pleasure boat and taking the route point closest to the current position in the marked global route as a starting route point;
the adjacent distance calculating unit is used for calculating the distance between every two adjacent route points after the initial route point after the marked global route to obtain a plurality of adjacent distances;
the tail point route point acquisition unit is used for acquiring a tail point route point when the accumulated value of the adjacent distances is larger than a preset interception length;
and the local route generation unit is used for intercepting the marked global route according to the starting route point and the tail point route point to obtain a local route.
Further, the target parameter calculation unit includes:
the target route generation unit is used for carrying out smoothing treatment on the local route through a smoother to obtain a target route;
an angle difference calculation unit for calculating a tangential angle of each route point in the target route, and calculating an angle difference between tangential angles of adjacent route points;
the route point distance calculation unit is used for calculating Euclidean distance between adjacent route points in the target route to obtain the route point distance;
the route point curvature calculation unit is used for dividing the angle difference with the corresponding route point to obtain the curvature of the route point;
And a target parameter generation unit for calculating a desired speed of the route point based on the route point curvature, and taking the desired speed of the route point, the route point curvature, and the route point distance as target parameters.
Further, the target parameter generating unit includes:
the steering acceleration acquisition unit is used for acquiring the steering acceleration of the unmanned pleasure boat according to the curvature of the route points;
a desired speed calculation unit for calculating a desired speed of the route point based on the circular motion formula based on the route point curvature and the steering acceleration;
and the target parameter determining unit is used for taking the expected speed of the route point, the curvature of the route point and the distance of the route point as target parameters.
Further, the target speed sequence calculation unit includes:
the target index acquisition unit is used for sequentially comparing the difference value of the curvatures of the adjacent route points with a preset threshold value to acquire a target index;
a speed change travel distance calculation unit for calculating a speed change travel distance of the unmanned pleasure boat based on the target index and the travel information, wherein the speed change travel distance includes an acceleration travel distance and a deceleration travel distance;
the objective function generating unit is used for generating an objective function of the unmanned pleasure boat according to the variable speed driving distance and the driving information;
And the target speed sequence generating unit is used for calculating the speed corresponding to the route point in the target route according to the target function to obtain a target speed sequence.
Further, the shift travel distance calculation unit includes:
an initial speed obtaining unit, configured to obtain an initial speed and a target speed corresponding to a target index of the maximum speed difference;
the maximum acceleration judging unit is used for judging whether the unmanned pleasure boat can reach the maximum acceleration or not based on the initial speed, the target speed and the jerk;
the first distance calculating unit is used for acquiring the maximum acceleration and the maximum speed which can be achieved by the current unmanned pleasure boat if the unmanned pleasure boat fails to achieve the maximum acceleration, and calculating the variable speed driving distance of the unmanned pleasure boat based on the maximum acceleration and the maximum speed which can be achieved by the current unmanned pleasure boat;
and the second distance calculation unit is used for respectively calculating the time used by the unmanned pleasure boat in the acceleration adding stage, the uniform acceleration movement stage and the acceleration subtracting stage if the unmanned pleasure boat can reach the maximum acceleration, obtaining the target time and calculating the variable speed running distance of the unmanned pleasure boat based on the target time.
Further, the target speed sequence generating unit includes:
The speed change state judging unit is used for obtaining adjacent speeds corresponding to each target index and judging the speed change state of the unmanned pleasure boat based on the adjacent speeds, wherein the adjacent speeds comprise the speed at the target index and the speed at the next position of the target index;
the first extension distance acquisition unit is used for acquiring the extension distance of the route point corresponding to the speed of the target index to the direction opposite to the movement direction of the unmanned pleasure boat as a first extension distance if the unmanned pleasure boat is in an acceleration state;
the first speed sequence calculation unit is used for calculating the speed corresponding to the route point in the target route based on the first extension distance and the objective function to obtain a target speed sequence;
the second extension distance obtaining unit is used for obtaining the extension distance of the route point corresponding to the first speed after the target index to the opposite direction of the movement direction of the unmanned pleasure boat as the second extension distance if the unmanned pleasure boat is in a deceleration state;
and the second speed sequence calculation unit is used for calculating the speed corresponding to the route point in the target route based on the second extension distance and the objective function to obtain a target speed sequence.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. An autonomous navigational control method of an unmanned cruise ship, comprising:
controlling an unmanned pleasure boat to run a pre-constructed running route, and acquiring running information of the unmanned pleasure boat in the running process, wherein the running information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat;
carrying out route point marking on the global route to be driven by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route;
carrying out smoothing treatment on the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance between the route points and expected speed of the route points;
calculating the speed corresponding to the route points in the target route based on the running information and the target parameters to obtain a target speed sequence, wherein the target speed sequence comprises a target speed corresponding to each route point in the target route;
inputting the target route and the target speed sequence into a motion controller of a controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller;
And generating an output of the motion controller based on the gain of the controller, acquiring an output of a model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat to track a track required by the unmanned pleasure boat.
2. The autonomous navigational control method of the unmanned cruise ship according to claim 1, wherein the performing route point marking on the global route to be traveled by the unmanned cruise ship to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned cruise ship to obtain a local route comprises:
according to a preset marking interval, marking route points of a global route to be driven by the unmanned pleasure boat, and obtaining the marked global route;
acquiring the current position of the unmanned pleasure boat, and taking a route point closest to the current position in the marked global route as an initial route point;
calculating the distance between every two adjacent route points after the initial route point in the marked global route to obtain a plurality of adjacent distances;
When the accumulation of the adjacent distances is larger than the preset intercepting length, obtaining a tail point route point;
and intercepting the marked global route according to the starting route point and the tail point route point to obtain the local route.
3. The autonomous navigational control method of the unmanned cruise ship according to claim 1, wherein the smoothing the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, comprises:
smoothing the local route through a smoother to obtain the target route;
calculating tangential angles of each route point in the target route, and calculating an angle difference between tangential angles of adjacent route points;
calculating Euclidean distance between the adjacent route points in the target route to obtain the route point distance;
dividing the angle difference with the corresponding route point to obtain the curvature of the route point;
based on the route point curvature, a desired speed of the route point is calculated, and the desired speed of the route point, the route point curvature, and the route point distance are taken as the target parameters.
4. The autonomous navigational control method of the unmanned cruise ship according to claim 3, wherein the calculating the desired speed of the waypoint based on the waypoint curvature and taking the desired speed of the waypoint, the waypoint curvature, and the waypoint distance as the target parameters comprises:
acquiring the steering acceleration of the unmanned pleasure boat according to the curvature of the route points;
calculating the expected speed of the route point based on a circular motion formula by using the curvature of the route point and the steering acceleration;
the desired speed of the route point, the route point curvature, and the route point distance are taken as the target parameters.
5. The autonomous navigational control method of the unmanned cruise ship according to any one of claims 1 to 4, wherein the calculating the speed corresponding to the route point in the target route based on the traveling information and the target parameter, to obtain a target speed sequence, comprises:
sequentially comparing the difference value of the curvature of the adjacent route points with a preset threshold value to obtain a target index;
calculating a speed change travel distance of the unmanned pleasure boat based on the target index and the travel information, wherein the speed change travel distance comprises an acceleration travel distance and a deceleration travel distance;
Generating an objective function of the unmanned pleasure boat according to the variable speed driving distance and the driving information;
and calculating the speed corresponding to the route point in the target route according to the objective function to obtain the target speed sequence.
6. The autonomous navigational control method of the unmanned cruise ship according to claim 5, wherein calculating the variable speed travel distance of the unmanned cruise ship based on the target index and the travel information comprises:
acquiring an initial speed and a target speed corresponding to the target index of the maximum speed difference;
judging whether the unmanned pleasure boat can reach the maximum acceleration based on the initial speed, the target speed and the jerk;
if the maximum acceleration of the unmanned pleasure boat is not reached, acquiring the maximum acceleration and the maximum speed of the unmanned pleasure boat, and calculating the variable speed driving distance of the unmanned pleasure boat based on the maximum acceleration and the maximum speed of the unmanned pleasure boat;
and if the unmanned pleasure boat can reach the maximum acceleration, respectively calculating the time used by the unmanned pleasure boat in an acceleration adding stage, a uniform acceleration movement stage and an acceleration subtracting stage to obtain target time, and calculating the variable speed driving distance of the unmanned pleasure boat based on the target time.
7. The autonomous navigational control method of the unmanned cruise ship according to claim 5, wherein the calculating the speed corresponding to the route point in the target route according to the objective function, to obtain the target speed sequence, comprises:
acquiring adjacent speeds corresponding to each target index, and judging a speed change state of the unmanned pleasure boat based on the adjacent speeds, wherein the adjacent speeds comprise speeds at the target index and speeds at the rear position of the target index;
if the unmanned pleasure boat is in an acceleration state, acquiring the extending distance of the route point corresponding to the speed at the target index in the opposite direction of the movement direction of the unmanned pleasure boat as a first extending distance;
calculating the speed corresponding to the route point in the target route based on the first extension distance and the objective function to obtain the target speed sequence;
if the unmanned pleasure boat is in a deceleration state, acquiring the extending distance of the route point corresponding to the speed after the target index to the movement direction of the unmanned pleasure boat as a second extending distance;
and calculating the speed corresponding to the route point in the target route based on the second extension distance and the objective function to obtain the target speed sequence.
8. An autonomous navigational control system of an unmanned cruise ship, comprising;
the system comprises a travel information unit, a travel control unit and a control unit, wherein the travel information unit is used for controlling an unmanned pleasure boat to run a pre-constructed travel route and acquiring travel information of the unmanned pleasure boat in the travel process, and the travel information comprises the maximum speed, the maximum acceleration and the jerk of the unmanned pleasure boat;
the global route intercepting unit is used for marking route points of a global route to be traveled by the unmanned pleasure boat to obtain a marked global route, and intercepting the marked global route based on the current position of the unmanned pleasure boat to obtain a local route;
the target parameter calculation unit is used for carrying out smoothing processing on the local route to obtain a target route, and calculating parameters of route points in the target route to obtain target parameters, wherein the target parameters comprise curvature of the route points, distance of the route points and expected speed of the route points;
a target speed sequence calculation unit, configured to calculate a speed corresponding to a route point in the target route based on the driving information and the target parameter, to obtain a target speed sequence, where the target speed sequence includes a target speed corresponding to each route point in the target route;
A controller gain calculation unit for inputting the target route and the target speed sequence into a motion controller of a controller to calculate a reference state and a current state of the controller, and inputting the reference state and the current state into a neural network of the controller to calculate a gain of the controller;
and the unmanned pleasure boat track tracking unit is used for generating the output of the motion controller based on the gain of the controller, acquiring the output of the model reference adaptive controller, and applying the output of the motion controller and the output of the model reference adaptive controller to the unmanned pleasure boat so as to track the track required by the unmanned pleasure boat.
9. The autonomous navigational control system of the unmanned cruise ship according to claim 8, wherein said global route intercept unit comprises:
the global route marking unit is used for marking route points of the global route to be driven by the unmanned pleasure boat according to a preset marking interval to obtain the marked global route;
the starting route point determining unit is used for obtaining the current position of the unmanned pleasure boat and taking the route point closest to the current position in the marked global route as a starting route point;
The adjacent distance calculating unit is used for calculating the distance between every two adjacent route points after the initial route point after the marked global route to obtain a plurality of adjacent distances;
the tail point route point obtaining unit is used for obtaining tail point route points when the accumulation of the adjacent distances is larger than the preset intercepting length;
and the local route generation unit is used for intercepting the marked global route according to the starting route point and the tail point route point to obtain the local route.
10. An autonomous navigational control system of an unmanned cruise ship according to any of claims 8 to 9, wherein the target parameter calculating unit comprises:
a target route generation unit, configured to perform smoothing processing on the local route by using a smoother, so as to obtain the target route;
an angle difference calculation unit that calculates a tangential angle of each route point in the target route, and calculates an angle difference between tangential angles of adjacent route points;
a route point distance calculating unit, configured to calculate a euclidean distance between the adjacent route points in the target route, to obtain the route point distance;
the route point curvature calculation unit is used for dividing the angle difference and the corresponding route point to obtain the curvature of the route point;
And a target parameter generating unit configured to calculate a desired speed of the route point based on the route point curvature, and take the desired speed of the route point, the route point curvature, and the route point distance as the target parameters.
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