CN117075600A - Unmanned ship track planning method and device, electronic equipment and storage medium - Google Patents
Unmanned ship track planning method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN117075600A CN117075600A CN202310844176.4A CN202310844176A CN117075600A CN 117075600 A CN117075600 A CN 117075600A CN 202310844176 A CN202310844176 A CN 202310844176A CN 117075600 A CN117075600 A CN 117075600A
- Authority
- CN
- China
- Prior art keywords
- unmanned ship
- target
- state information
- moment
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims description 35
- 230000001133 acceleration Effects 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 22
- 230000003068 static effect Effects 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 abstract description 6
- 101150080778 INPP5D gene Proteins 0.000 description 279
- 238000010586 diagram Methods 0.000 description 21
- 230000006870 function Effects 0.000 description 19
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 235000012308 Tagetes Nutrition 0.000 description 4
- 241000736851 Tagetes Species 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- NRNCYVBFPDDJNE-UHFFFAOYSA-N pemoline Chemical compound O1C(N)=NC(=O)C1C1=CC=CC=C1 NRNCYVBFPDDJNE-UHFFFAOYSA-N 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a track planning method and device for an unmanned ship, electronic equipment and a storage medium. The track planning method of the unmanned ship comprises the following steps: acquiring state information of the unmanned ship at a target moment, wherein the state information comprises a position, a speed and an angle; according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment, determining barrier information in the navigation process of the unmanned ship; determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship; and determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the motion model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment. By adopting the method for path planning, the method can adapt to the characteristic of large unmanned ship volume and improve the accuracy of path planning.
Description
Technical Field
The application belongs to the field of autonomous navigation of unmanned equipment, and particularly relates to a track planning method and device for an unmanned ship, electronic equipment and a storage medium.
Background
The existing method for planning the path of the unmanned ship generally plans the position of the unmanned ship at each moment, and then controls the unmanned ship to sail according to the position at each moment, but the unmanned ship has complex sailing environment and large volume, and when the direction of the unmanned ship changes slightly, the track of the unmanned ship is greatly deviated. Therefore, the unmanned ship is controlled to be not in line with the actual sailing situation of the unmanned ship by planning the positions of the unmanned ship at all moments, and the accuracy of the track obtained by planning is poor.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for planning a trajectory of an unmanned ship, which can improve the accuracy of trajectory planning by planning the position, the speed, and the angle of each moment of the unmanned ship.
A first aspect of an embodiment of the present application provides a trajectory planning method for an unmanned ship, including:
acquiring state information of the unmanned ship at a target moment, wherein the state information comprises a position, a speed and an angle;
determining obstacle information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment;
Determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship;
and determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the motion model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment.
In an embodiment, the determining the obstacle information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment includes:
and extracting the obstacle information in the unmanned ship navigation process from the electronic chart according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment, wherein the obstacle information comprises a static obstacle, a navigation forbidden area and an area for limiting the unmanned ship navigation.
In an embodiment, determining a constraint condition from the obstacle information includes:
converting a static obstacle into a point target in a two-dimensional space according to the position of the static obstacle, and establishing a distance constraint condition between the unmanned ship and the point target;
Converting the navigation-prohibited area into a line target in a two-dimensional space according to the position of the navigation-prohibited area, and establishing a positional relationship constraint condition between the unmanned ship and the line target;
and converting the area limiting the navigation of the unmanned ship into a surface target in a two-dimensional space according to the position of the area limiting the navigation of the unmanned ship, and establishing a constraint condition of the position relation between the unmanned ship and the surface target.
In an embodiment, determining the constraint condition according to the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship includes:
and determining constraint conditions of the acceleration change amount, rudder angle change amount, acceleration, rudder angle and navigational speed of the unmanned ship according to the configuration information of the actuating mechanism of the unmanned ship and the task configuration information of the unmanned ship.
In an embodiment, the determining the target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment, and the motion model of the unmanned ship includes:
according to the state information of the unmanned ship at the current moment and the motion model of the unmanned ship, determining the predicted state information of the unmanned ship at the target moment;
Obtaining control quantity of each moment of the unmanned ship according to the difference between the predicted state information and the state information of the unmanned ship at the target moment and the constraint condition;
and determining the target track of the unmanned ship according to the control quantity.
In an embodiment, the determining the target trajectory of the unmanned ship according to the control amount includes:
determining candidate tracks according to the control quantity and the motion model;
if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is in a preset range, taking the candidate track as a target track;
and if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is not in a preset range, determining a target track according to the updated control quantity.
In an embodiment, the control amount includes an acceleration variation amount and a rudder angle variation amount of the unmanned ship.
A second aspect of an embodiment of the present application provides a trajectory planning device for an unmanned ship, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring state information of the unmanned ship at a target moment, and the state information comprises a position, a speed and an angle;
The determining module is used for determining obstacle information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment;
the calculation module is used for determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship;
the output module is used for determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the movement model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment.
A third aspect of an embodiment of the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method for trajectory planning of an unmanned ship as described in the first aspect above when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a method of trajectory planning for an unmanned ship as described in the first aspect above.
A fifth aspect of an embodiment of the application provides a computer program product for, when run on an electronic device, causing the electronic device to perform the method of trajectory planning for an unmanned ship as set out in any one of the first aspects above.
Compared with the prior art, the embodiment of the application has the beneficial effects that: and planning a path of the unmanned ship according to the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment, the constraint condition and the motion model of the unmanned ship, wherein the obtained target track comprises the positions, the speeds and the angles of the unmanned ship from the current moment to the target moment. Compared with the method for planning the position, the method provided by the embodiment of the application can be suitable for the characteristic of large unmanned ship volume, and the accuracy of path planning is improved. Meanwhile, the constraint conditions in the path planning process comprehensively consider the registration information of the obstacle and the executing mechanism and the task registration information, so that the accuracy of path planning can be further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic implementation flow chart of a track planning method of an unmanned ship according to an embodiment of the present application;
FIG. 2 is a flow chart of track planning for an unmanned ship according to an embodiment of the present application;
FIG. 3 is a diagram of a track planning architecture for an unmanned ship according to an embodiment of the present application;
fig. 4 is a schematic diagram of a track planning result in a first scenario provided by an embodiment of the present application;
fig. 5 is a schematic diagram of a heading change trend corresponding to a target track in a first scenario provided by an embodiment of the present application;
fig. 6 is a schematic diagram of a change trend of a navigational speed corresponding to a target track in a first scenario provided by an embodiment of the present application;
fig. 7 is a schematic diagram of a change trend of the angular velocity of the bow corresponding to the target track in the first scenario provided by the embodiment of the present application;
fig. 8 is a schematic diagram of a track planning result in a second scenario provided by an embodiment of the present application;
fig. 9 is a schematic diagram of a heading change trend corresponding to a target track in a second scenario provided by the embodiment of the present application;
fig. 10 is a schematic diagram of a change trend of a navigational speed corresponding to a target track in a second scenario provided by the embodiment of the present application;
fig. 11 is a schematic diagram of a change trend of the angular velocity of the bow corresponding to the target track in the second scenario provided by the embodiment of the present application;
Fig. 12 is a schematic diagram of a trajectory planning result in a third scenario provided by an embodiment of the present application;
fig. 13 is a schematic diagram of a heading change trend corresponding to a target track in a third scenario provided by an embodiment of the present application;
fig. 14 is a schematic diagram of a change trend of the navigational speed corresponding to the target track in the third scenario provided by the embodiment of the present application;
fig. 15 is a schematic diagram of a change trend of the angular velocity of the bow corresponding to the target track in the third scenario provided by the embodiment of the present application;
fig. 16 is a schematic diagram of a track planning result in a fourth scenario provided by an embodiment of the present application;
fig. 17 is a schematic diagram of a heading change trend corresponding to a target track in a fourth scenario provided by an embodiment of the present application;
FIG. 18 is a schematic diagram of a trend of change in speed corresponding to a target track in a fourth scenario provided by an embodiment of the present application;
fig. 19 is a schematic diagram of a change trend of the angular velocity of the bow corresponding to the target track in the fourth scenario provided by the embodiment of the present application;
fig. 20 is a schematic diagram of a track planning apparatus for an unmanned ship according to an embodiment of the present application;
fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
The track planning method of the unmanned ship provided by the application is exemplified below.
Referring to fig. 1, a track planning method for an unmanned ship according to an embodiment of the present application includes:
s101: and acquiring state information of the unmanned ship at the target moment, wherein the state information comprises position, speed and angle.
The target state information is an ending condition for track planning of the unmanned ship. The position of the unmanned ship comprises displacement of the unmanned ship in the x direction and displacement of the unmanned ship in the y direction on a map (such as an electronic chart), the angle of the unmanned ship refers to the heading of the unmanned ship, namely the heading of the unmanned ship, and the speed comprises the navigational speed and the bow turning angular speed of the unmanned ship. The position, speed and angle of the unmanned ship at the target moment are the target position, target speed and target angle, respectively.
S102: and determining barrier information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment.
In an embodiment, according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment, determining a region passing through during the navigation of the unmanned ship, and extracting the obstacle information during the navigation of the unmanned ship from the electronic chart, wherein the obstacle information comprises a static obstacle, a navigation forbidden region and a region limiting the navigation of the unmanned ship.
Wherein, static barrier can be ship, sea surface marker or reef etc. and the area that prohibits the navigation can be the area beyond the coastline, and the area that restricts unmanned ship navigation can be harbour area, shallow water area etc..
S103: and determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship.
In one embodiment, the obstacle information includes a static obstacle, a navigation-prohibited area, and an area for restricting navigation of the unmanned ship, and determining the constraint condition according to the obstacle information specifically includes: converting the static obstacle into a point target in a two-dimensional space according to the position of the static obstacle, and establishing a distance constraint condition between the unmanned ship and the point target; converting the navigation-prohibited area into a line target in a two-dimensional space according to the position of the navigation-prohibited area, and establishing a positional relationship constraint condition between the unmanned ship and the line target; according to the position of the area limiting the navigation of the unmanned ship, converting the area limiting the navigation of the unmanned ship into a surface target in a two-dimensional space, and establishing a constraint condition of the position relation between the unmanned ship and the surface target. By converting the obstacle information into corresponding points, lines and surfaces, the calculation complexity can be reduced under the condition of ensuring the safe navigation of the unmanned ship.
Illustratively, taking the center point of the static obstacle as the point target, the constraint between the unmanned ship and the static obstacle is expressed as
[x(k)-obs_x] 2 +[y(k)-obs_y] 2 ≥R 2 ，
Where R represents the minimum distance between the unmanned ship and the static obstacle, (obs_x, obs_y) represents the position coordinates of the static obstacle, (x (k), y (k)) represents the position coordinates of the unmanned ship at the kth time.
Fitting coordinate points on the boundary of the navigation prohibition area to obtain a straight line where the navigation prohibition area is located, wherein the constraint condition of the navigation prohibition area is expressed as Ax (k) +by (k) +C > 0, A, B, C represents parameters of a space two-dimensional straight line equation, and A, B is not 0.
Determining a plane in which a navigation limiting area is located, wherein the constraint condition of the area limiting the navigation of the unmanned ship is expressed as follows: a is that m x(k)+B m y(k)+C m > 0, where m=1, 2,3, …, a m 、B m Not all 0.
In an embodiment, constraint conditions of the acceleration change amount, the rudder angle change amount, the acceleration, the rudder angle and the navigational speed of the unmanned ship are determined according to the configuration information of the actuating mechanism of the unmanned ship and the task configuration information of the unmanned ship. The constraint conditions are determined by integrating a plurality of factors of the unmanned ship, so that the path obtained by follow-up planning is consistent with the actual sailing condition of the unmanned ship, and the stability and safety of the unmanned ship in the sailing process are improved.
In particular, in order to avoid adverse effects of severe acceleration and deceleration and rudder speed on the attitude of the hull, the constraint conditions that the acceleration variation and rudder angle variation of the unmanned ship need to satisfy can be expressed as
Wherein Δa (k) represents the acceleration variation at the kth time of the unmanned ship, Δδ (k) represents the rudder angle variation at the kth time of the unmanned ship, and Δa min Representing the minimum value of the acceleration variation, deltaa max Represents the maximum value of the acceleration change amount, delta min Represents the minimum value of rudder angle variation, delta max The maximum value of the rudder angle variation amount is shown.
According to the structural characteristics of the actuating mechanism of the unmanned ship, the constraint conditions which are required to be met by the acceleration and rudder angle of the unmanned ship can be expressed as
Wherein a (k) represents acceleration of the unmanned ship at the kth time, delta (k) represents rudder angle of the unmanned ship at the kth time, and a min Representing the minimum value of acceleration, a max Represents the maximum value of the acceleration and,δ min represents the minimum value of rudder angle delta max Represents the maximum value of the rudder angle.
According to the task configuration information of the unmanned ship, the constraint condition which needs to be met by the navigational speed of the unmanned ship can be expressed as V min ≤V(k)≤V max Wherein V (k) represents the speed of the unmanned ship at the kth time, V min Representing minimum value of navigational speed, V max Representing the maximum value of the navigational speed. The unmanned ship is used for carrying out tasks according to the task configuration information of the unmanned ship, wherein the tasks can be environment monitoring, sea surface cruising and the like.
In an embodiment, the upper and lower limits of each parameter in the constraint condition of the unmanned ship may be determined according to the driving scene of the unmanned ship. The driving scene of the unmanned ship comprises information such as current weather conditions, environment brightness, sea water depth, distance from coastline and the like, and the upper limit and the lower limit of parameters corresponding to different driving scenes are different, so that constraint conditions are matched with actual scenes, and the accuracy of subsequent path planning is improved. For example, in different driving scenes, the minimum and maximum values of the speed are different from those of the obstacle, the limited travel area, and the distance limitation condition for prohibiting travel.
In an embodiment, in the running process of the unmanned ship, dynamic obstacle information detected by a detector (for example, a laser or radar detector) is acquired, and constraint conditions of the dynamic obstacle corresponding to each moment are determined according to the motion information of the dynamic obstacle, so that the accuracy of path planning is further improved.
S104: and determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the motion model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment.
In an embodiment, according to the state information of the unmanned ship at the current moment and the motion model of the unmanned ship, the predicted state information of the unmanned ship at the target moment is determined; and obtaining the control quantity of the unmanned ship at each moment according to the difference between the predicted state information and the state information of the unmanned ship at the target moment and the constraint condition, and determining the target track of the unmanned ship according to the control quantity. The control amount may include an acceleration change amount and a rudder angle change amount of the unmanned ship.
Specifically, the process of establishing the motion model of the unmanned ship is as follows:
first, a process of constructing a motion model of an unmanned ship is described.
The track prediction model of the unmanned ship is as follows
Wherein V represents the speed of the unmanned ship,representing the heading of an unmanned ship, +.>Indicating the speed of the unmanned ship in x-direction, +.>The speed of the unmanned ship in the y direction is represented, and r represents the bow turning angular speed of the unmanned ship.
Based on the speed change response of the unmanned ship, a bow turning second-order nonlinear motion response model can be obtained:
wherein a represents the acceleration of the unmanned ship,the steering angle acceleration of the unmanned ship is represented, delta represents the rudder angle of the unmanned ship, and alpha, beta, K and T are steering indexes of the unmanned ship.
The Euler discretization processing is carried out on the formula (1) and the formula (2), so that the following steps are obtained:
The motion model of the unmanned ship can be obtained by rewriting the equation (3) with the acceleration change amount (jerk) Δa (k) and rudder angle change amount Δδ (k) of the unmanned ship as control amounts, Δa (k) =a (k) -a (k-1), Δδ (k) =δ (k) - δ (k-1):
V(k+1)＝V(k)+[a(k-1)+Δa(k)]
wherein x (k) represents displacement of the unmanned ship in the x direction at the kth moment, y (k) represents displacement of the unmanned ship in the y direction at the kth moment, V (k) represents the speed of the unmanned ship at the kth moment,the heading of the kth moment of the unmanned ship is represented, r (k) represents the turning bow angular velocity of the kth moment of the unmanned ship, Δa (k) =a (k) -a (k-1), a (k) represents the acceleration of the kth moment of the unmanned ship, a (k-1) represents the acceleration of the kth moment of the unmanned ship, Δδ (k) =δ (k) - δ (k-1), δ (k) represents the rudder angle of the kth moment of the unmanned ship, δ (k-1) represents the rudder angle of the kth moment of the unmanned ship, x (k+1) represents the displacement of the unmanned ship in the x direction of the kth+1 moment, y (k+1) represents the displacement of the unmanned ship in the y direction of the kth+1 moment>The heading of the unmanned ship at the k+1 time is shown, V (k+1) represents the navigational speed of the unmanned ship at the k+1 time, r (k+1) represents the turning angular speed of the unmanned ship at the k+1 time, and alpha, beta, K and T are the maneuverability indexes of the unmanned ship.
The motion model may reflect a relationship between state information of adjacent two moments of the unmanned ship in a case where the acceleration variation amount and the rudder angle variation amount are input as control amounts.
In one embodiment, the settings are set
The motion model can be expressed as Y (k+1) =f (k) +bu (k-1) +bΔu (k).
Defining the prediction step length as H p The control step length is H c ，H c ≤H p The motion model of the unmanned ship can be expressed as
γ(k+1|k)＝f(k)+BU(k-1)+BΔU(k)
γ(k+2|k)＝f(k+1)+BU(k)+BΔU(k+1)
γ(k+i|k)＝f(k+i-1)+BU(k+i-2)+BΔU(k+i-1)
γ(k+H p |k)＝f(k+H p -1)+BU(k+H p -2)+BΔU(k+H c -1)。
Substituting the state information of the unmanned ship at the current moment into the motion model to determine the predicted state information of the unmanned ship at the target moment.
In an embodiment, the difference between the predicted state information and the state information of the unmanned ship at the target moment is represented by a cost function, and the cost function is solved according to constraint conditions to obtain the control quantity of the unmanned ship at each moment.
In one embodiment, the cost function is:
wherein, the xi represents target state information, which can be expressed asx tar Representing displacement of unmanned ship in x direction at target moment, y tar Indicating the displacement of the unmanned ship in the y direction at the target moment,/->Representing the heading of the unmanned ship at the target moment, V tar Representing the speed of the unmanned ship at a target moment, r tar The bow-turning angular speed of the unmanned ship at the target moment is represented; h p Represents the predicted step length, gamma (k+i|k) represents the state information of the unmanned ship at the k+i time, H c The control step length is represented by Δu (k+j), the control amount at the k+j time is represented by Q, the weight matrix for adjusting the optimal state amount is represented by P, and the weight matrix for adjusting the optimal control amount is represented by P.
Wherein Q can be represented asP can be expressed as +.>
The state information gamma (k+i|k) corresponding to each moment of the unmanned ship obtained according to the motion model is substituted into the cost function, and the control quantity of each moment in the prediction step length is obtained through calculation according to constraint conditions.
In one embodiment, the cost function may be calculated using an OSQP solverTo obtain the predicted step length H p The control quantity { DeltaU (k), …, deltaU (k+H) c -1)}。
In other embodiments, the cost function may be a difference between the position, the speed, and the rudder angle in the predicted state information and each parameter in the position, the speed, and the rudder angle in the target state information, or may be a sum of differences between the parameters.
In an embodiment, after the control amount is obtained, determining a candidate track according to the control amount and the motion model, and if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is within a preset range, taking the candidate track as the target track. If the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is not in the preset range, determining the target track according to the updated control quantity.
Specifically, H is c The control amounts { DeltaU (k), …, deltaU (k+H) c -1) is substituted into the motion model to obtain state information { gamma (k+1), …, gamma (k+H) c ) And the current moment is the kth moment, and the candidate track of the unmanned ship from the current moment to the target moment can be determined according to the state information of each moment. And determining the difference between the ending state information corresponding to the candidate track and the target state information, and taking the candidate track as the target track if the difference is within a preset range. If the difference is not in the preset range, determining an updated control amount, wherein the updated control amount is the control amount from the next control moment to each moment between the target moment. And determining the difference between the end state information and the target state information of the candidate track corresponding to the updated control quantity, and determining whether the difference is within a preset range. Specifically, the control step length is H c The current time is the kth time, and the next control time is the (k+h) c Time of day. Under the condition that the target track does not meet the preset condition, the current moment is updated to be k+H c At moment, solving according to constraint conditions and cost functions to obtain a secondary k+H c The control quantity from the moment to the target moment, namely the updated control quantity, obtains the updated candidate track according to the updated control quantity and the motion model, and determines the updated candidate track And if the difference between the ending state information of the track and the target state information is within a preset range, taking the candidate track as the target track.
In the above embodiment, the obstacle information in the navigation process of the unmanned ship is determined according to the state information of the unmanned ship at the current moment and the state information at the target moment, the constraint condition is determined according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship, the target track of the unmanned ship is determined according to the constraint condition, the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment by using the movement model of the unmanned ship, and the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment. The target track comprises the position, the speed and the angle of the unmanned ship from the current moment to the target moment, so that the unmanned ship can adapt to the characteristic of large unmanned ship volume and the accuracy of path planning is improved. Meanwhile, the constraint conditions in the path planning process comprehensively consider the registration information of the obstacle and the executing mechanism and the task registration information, so that the accuracy of path planning can be further improved.
In one embodiment, the trajectory planning flow of the unmanned ship is shown in fig. 2. The electronic equipment acquires the state information of the unmanned ship at the target moment and the obstacle information in the running environment, builds a motion model of the unmanned ship, and predicts the state information of the unmanned ship from the current moment to the target moment according to the state information of the unmanned ship at the current moment and the motion model. And then determining the constraint condition of the unmanned ship according to the acceleration and the bow swing angular speed of the unmanned ship, and determining the constraint condition of the unmanned ship according to the obstacle information. And then establishing a cost function of the unmanned ship, and solving the cost function under the constraint condition to obtain the control quantity. And then, determining a target track according to the control quantity and the motion model, and determining whether the ending state corresponding to the target track is consistent with the target state. If yes, outputting information corresponding to the target track, wherein the information corresponding to the target track comprises the position, rudder angle, navigational speed and yaw angular speed at each moment. If not, predicting the state information of the unmanned ship according to the motion model again.
In an embodiment, the unmanned ship comprises an electronic chart data module, an unmanned ship power system and a task control center, and a flow for realizing unmanned ship track planning according to each module is shown in fig. 3. The electronic chart data module provides an electronic chart, loads barrier information according to the electronic chart, and obtains constraint conditions corresponding to the barrier according to the barrier information. And loading the configuration of the executing mechanism by the unmanned ship power system, and obtaining constraint conditions corresponding to the control quantity according to the configuration of the executing mechanism. The task control center loads task configuration and obtains constraint conditions corresponding to navigational speed according to the task configuration. And synthesizing all the constraint conditions to obtain a constraint condition set in the running process of the unmanned ship. And then, determining a cost function in the running process of the unmanned ship, calculating the cost function by using an OSQP solver to obtain a control quantity, determining the safe and collision-free state information at each moment according to the control quantity, and obtaining a final planning track according to the state information at each moment.
Illustratively, when the unmanned ship runs in open water, no static obstacle exists, the position Start of the current moment of the unmanned ship is (0, 0), the target position Taget is (80,50), the constraint condition of the navigational speed of the unmanned ship is 5m/s less than or equal to V (k) less than or equal to 10m/s, and the bow swing angular speed is required to meet the constraint condition of-10 deg/s less than or equal to r (k) less than or equal to 10deg/s. By adopting the track planning method of the unmanned ship provided by the embodiment of the application, the target track Plan tarjectory can be obtained as shown in fig. 4, wherein the abscissa represents the x-direction coordinate, and the ordinate represents the y-direction coordinate. Heading change trend psi corresponding to target track d As shown in fig. 5, wherein the abscissa represents time and the ordinate represents angle. Navigational speed V corresponding to target track d The trend is shown in fig. 6, in which the abscissa indicates time and the ordinate indicates speed. Yaw rate r corresponding to target track d As shown in fig. 7, wherein the abscissa represents time and the ordinate represents angular velocity.
When the unmanned ship runs in the water where the Obstacle exists, the position Start of the current moment of the unmanned ship is (0, 0), the target position Taget is (80,50), the constraint condition of the navigational speed of the unmanned ship is 5m/s less than or equal to V (k) less than or equal to 10m/s, the bow swing angle speed is required to meet the constraint condition of-10 deg/s less than or equal to r (k) less than or equal to 10deg/s, and the position of the Obstacle Put (40,15), the constraint of the obstacle is that the distance from the obstacle is greater than 8 meters. By adopting the track planning method of the unmanned ship provided by the embodiment of the application, the target track Plan tarjectory is shown in figure 8, and the heading change trend psi corresponding to the target track can be obtained d As shown in FIG. 9, the speed V corresponding to the target track d The change trend is shown in figure 10, and the target track corresponds to the bow turning angular speed r d As shown in fig. 11.
When the unmanned ship runs in the water where the obstacle exists and the navigation-forbidden area exists, the position Start of the current moment of the unmanned ship is (0, 0), the target position Taget is (80,50), the constraint condition of the navigation speed of the unmanned ship is 5m/s less than or equal to V (k) less than or equal to 10m/s, and the bow swing angular speed is required to meet the constraint condition of-10 deg/s less than or equal to r (k) less than or equal to 10deg/s. The position of the obstacle Point is (40,15), and the constraint condition of the obstacle is that the distance from the obstacle is more than 8 meters. The area prohibited from sailing is a prohibited area, which is an area composed of points (45, -5), (90, -5), (90,40) in the map, and the plane where the boundary line of the prohibited area is located determines the constraint condition. By adopting the track planning method of the unmanned ship provided by the embodiment of the application, the target track Plan tarjectory can be obtained as shown in figure 12, and the heading change trend psi corresponding to the target track can be obtained d As shown in FIG. 13, the speed V corresponding to the target track d The change trend is shown in FIG. 14, and the target track corresponds to the bow turning angular velocity r d As shown in fig. 15.
When the unmanned ship runs in a narrow water area, the position Start of the unmanned ship at the current moment is (0, 0), the target position Taget is (80,50), the constraint condition of the navigational speed of the unmanned ship is 5m/s less than or equal to V (k) less than or equal to 10m/s, and the bow swing angular speed is required to meet the constraint condition of-10 deg/s less than or equal to r (k) less than or equal to 10deg/s. Constructing constraint conditions according to coastline boundaries Line1 and Line2 in a map as follows
By adopting the track planning method of the unmanned ship provided by the embodiment of the application, the target track Plan tarjectory is shown in figure 16, and the heading change trend psi corresponding to the target track can be obtained d As shown in FIG. 17, the speed V corresponding to the target track d The change trend is shown in figure 18, and the target track corresponds to the bow turning angular speed r d As shown in fig. 19.
It can be seen that by adopting the track planning method of the unmanned ship provided by the embodiment of the application, the obstacle in the driving environment can be effectively avoided, and the unmanned ship can reach the target point in a shorter path in the driving area.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Corresponding to the track planning method of the unmanned ship described in the above embodiments, fig. 20 shows a block diagram of the track planning apparatus of the unmanned ship provided in the embodiment of the present application, and for convenience of explanation, only the parts related to the embodiment of the present application are shown.
As shown in fig. 20, the trajectory planning device of the unmanned ship includes,
an obtaining module 201, configured to obtain status information of the unmanned ship at a target moment, where the status information includes a position, a speed, and an angle;
a determining module 202, configured to determine obstacle information during the navigation of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment;
a calculation module 203, configured to determine constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship, and the task configuration information of the unmanned ship;
and the output module 204 is configured to determine a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment, and the motion model of the unmanned ship, where the target track includes the state information of the unmanned ship at each moment from the current moment to the target moment.
In one embodiment, the determining module 202 is specifically configured to:
and extracting the obstacle information in the unmanned ship navigation process from the electronic chart according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment, wherein the obstacle information comprises a static obstacle, a navigation forbidden area and an area for limiting the unmanned ship navigation.
In one embodiment, the determining module 202 is specifically configured to:
converting a static obstacle into a point target in a two-dimensional space according to the position of the static obstacle, and establishing a distance constraint condition between the unmanned ship and the point target;
converting the navigation-prohibited area into a line target in a two-dimensional space according to the position of the navigation-prohibited area, and establishing a positional relationship constraint condition between the unmanned ship and the line target;
and converting the area limiting the navigation of the unmanned ship into a surface target in a two-dimensional space according to the position of the area limiting the navigation of the unmanned ship, and establishing a constraint condition of the position relation between the unmanned ship and the surface target.
In one embodiment, the determining module 202 is specifically configured to:
and determining constraint conditions of the acceleration change amount, rudder angle change amount, acceleration, rudder angle and navigational speed of the unmanned ship according to the configuration information of the actuating mechanism of the unmanned ship and the task configuration information of the unmanned ship.
In one embodiment, the output module 204 is specifically configured to:
according to the state information of the unmanned ship at the current moment and the motion model of the unmanned ship, determining the predicted state information of the unmanned ship at the target moment;
obtaining control quantity of each moment of the unmanned ship according to the difference between the predicted state information and the state information of the unmanned ship at the target moment and the constraint condition;
and determining the target track of the unmanned ship according to the control quantity.
In one embodiment, the output module 204 is specifically configured to:
determining candidate tracks according to the control quantity and the motion model;
if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is in a preset range, taking the candidate track as a target track;
and if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is not in a preset range, determining a target track according to the updated control quantity.
In an embodiment, the control amount includes an acceleration variation amount and a rudder angle variation amount of the unmanned ship.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
Fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may be a device having a calculation function, such as a control device of an unmanned ship.
As shown in fig. 21, the electronic apparatus of this embodiment includes: a processor 211, a memory 212 and a computer program 213 stored in the memory 212 and executable on the processor 211. The processor 211 when executing the computer program 213 implements the steps of the track planning method embodiment of the unmanned ship described above, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 211 may implement the functions of the modules/units in the above-described device embodiments when executing the computer program 213, for example, the functions of the acquisition module 201 to the output module 204 shown in fig. 20.
Illustratively, the computer program 213 may be partitioned into one or more modules/units that are stored in the memory 212 and executed by the processor 211 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program 213 in the electronic device.
It will be appreciated by those skilled in the art that fig. 21 is merely an example of an electronic device and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.
The processor 211 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 212 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 212 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like. Further, the memory 212 may also include both internal storage units and external storage devices of the electronic device. The memory 212 is used to store the computer program as well as other programs and data required by the electronic device. The memory 212 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method of trajectory planning for an unmanned ship, comprising:
Acquiring state information of the unmanned ship at a target moment, wherein the state information comprises a position, a speed and an angle;
determining obstacle information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment;
determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship;
and determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the motion model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment.
2. The method of claim 1, wherein the determining obstacle information during voyage of the unmanned ship based on the state information of the unmanned ship at the current time and the state information at the target time comprises:
and extracting the obstacle information in the unmanned ship navigation process from the electronic chart according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment, wherein the obstacle information comprises a static obstacle, a navigation forbidden area and an area for limiting the unmanned ship navigation.
3. The method of claim 2, wherein determining a constraint from the obstacle information comprises:
converting a static obstacle into a point target in a two-dimensional space according to the position of the static obstacle, and establishing a distance constraint condition between the unmanned ship and the point target;
converting the navigation-prohibited area into a line target in a two-dimensional space according to the position of the navigation-prohibited area, and establishing a positional relationship constraint condition between the unmanned ship and the line target;
and converting the area limiting the navigation of the unmanned ship into a surface target in a two-dimensional space according to the position of the area limiting the navigation of the unmanned ship, and establishing a constraint condition of the position relation between the unmanned ship and the surface target.
4. The method of claim 1, wherein determining constraints based on configuration information of an actuator of the unmanned ship and mission configuration information of the unmanned ship comprises:
and determining constraint conditions of the acceleration change amount, rudder angle change amount, acceleration, rudder angle and navigational speed of the unmanned ship according to the configuration information of the actuating mechanism of the unmanned ship and the task configuration information of the unmanned ship.
5. The method of claim 1, wherein the determining the target trajectory of the unmanned ship based on the constraint condition, the status information of the unmanned ship at the current time, the status information of the unmanned ship at the target time, and the movement model of the unmanned ship comprises:
according to the state information of the unmanned ship at the current moment and the motion model of the unmanned ship, determining the predicted state information of the unmanned ship at the target moment;
obtaining control quantity of each moment of the unmanned ship according to the difference between the predicted state information and the state information of the unmanned ship at the target moment and the constraint condition;
and determining the target track of the unmanned ship according to the control quantity.
6. The method of claim 5, wherein said determining a target trajectory of the unmanned ship from the control quantity comprises:
determining candidate tracks according to the control quantity and the motion model;
if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is in a preset range, taking the candidate track as a target track;
And if the difference between the termination state corresponding to the candidate track and the state information of the unmanned ship at the target moment is not in a preset range, determining a target track according to the updated control quantity.
7. The method of claim 5, wherein the control amounts include an acceleration change amount and a rudder angle change amount of the unmanned ship.
8. A trajectory planning device for an unmanned ship, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring state information of the unmanned ship at a target moment, and the state information comprises a position, a speed and an angle;
the determining module is used for determining obstacle information in the navigation process of the unmanned ship according to the state information of the unmanned ship at the current moment and the state information of the unmanned ship at the target moment;
the calculation module is used for determining constraint conditions according to the obstacle information, the configuration information of the execution mechanism of the unmanned ship and the task configuration information of the unmanned ship;
the output module is used for determining a target track of the unmanned ship according to the constraint condition, the state information of the unmanned ship at the current moment, the state information of the unmanned ship at the target moment and the movement model of the unmanned ship, wherein the target track comprises the state information of the unmanned ship at each moment from the current moment to the target moment.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of trajectory planning of an unmanned ship according to any one of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method of trajectory planning of an unmanned ship according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310844176.4A CN117075600A (en) | 2023-07-10 | 2023-07-10 | Unmanned ship track planning method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310844176.4A CN117075600A (en) | 2023-07-10 | 2023-07-10 | Unmanned ship track planning method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117075600A true CN117075600A (en) | 2023-11-17 |
Family
ID=88701231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310844176.4A Pending CN117075600A (en) | 2023-07-10 | 2023-07-10 | Unmanned ship track planning method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117075600A (en) |
-
2023
- 2023-07-10 CN CN202310844176.4A patent/CN117075600A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Song et al. | Smoothed A* algorithm for practical unmanned surface vehicle path planning | |
| CN110471427B (en) | Intelligent ship formation collision avoidance method based on path planning and artificial potential field method | |
| EP3408720B1 (en) | Autonomous operation of a vessel | |
| Wilthil et al. | Radar-based maritime collision avoidance using dynamic window | |
| US11703883B2 (en) | Autonomous driving device | |
| US11307589B2 (en) | Vessel navigation system and navigation method thereof | |
| Larson et al. | Advances in autonomous obstacle avoidance for unmanned surface vehicles | |
| CN113759939B (en) | Intelligent navigation method and device for limited water area | |
| KR20110113608A (en) | Autonomous navigation system and method for a maneuverable platform | |
| CN106094606A (en) | A kind of unmanned surface vehicle navigation and control remote-controlled operation platform | |
| CN115515851A (en) | Ship automatic guiding method, ship automatic guiding program, ship automatic guiding system, and ship | |
| CN111813107A (en) | Unmanned ship control method, unmanned ship control device and unmanned ship | |
| US11087158B2 (en) | Error correction of airborne vehicles using natural patterns | |
| CN112036274A (en) | Driving region detection method and device, electronic equipment and storage medium | |
| CN114061565B (en) | Unmanned ship SLAM and application method thereof | |
| CN116069037A (en) | Unmanned vehicle formation track planning control method, device, equipment and storage medium | |
| Wu et al. | An overview of developments and challenges for unmanned surface vehicle autonomous berthing | |
| CN114995409A (en) | Unmanned ship autonomous cruise control system and cruise method | |
| CN114088094A (en) | Intelligent route planning method and system for unmanned ship | |
| Kim et al. | Navigable area detection and perception-guided model predictive control for autonomous navigation in narrow waterways | |
| Simonlexau et al. | Automated Docking for Marine Surface Vessels—A Survey | |
| CN117075600A (en) | Unmanned ship track planning method and device, electronic equipment and storage medium | |
| Lee et al. | Design and experiment of a small boat track-keeping autopilot | |
| Han et al. | Field demonstration of advanced autonomous navigation technique for a fully unmanned surface vehicle in complex coastal traffic areas | |
| CN116125980A (en) | Unmanned truck driving method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |