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Intelligent ship collision avoidance path planning method based on heading and navigational speed

A path planning and smart ship technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc.

Active Publication Date: 2021-02-12
CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
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  • Claims
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Problems solved by technology

[0003] Traditional ships can only rely on obstacle avoidance equipment to detect obstacles around the ship, and manually determine the direction of travel of the ship, so experienced navigators are needed, but ship collision accidents still occur, so it is of great significance to study the path planning of ships

Method used

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  • Intelligent ship collision avoidance path planning method based on heading and navigational speed
  • Intelligent ship collision avoidance path planning method based on heading and navigational speed
  • Intelligent ship collision avoidance path planning method based on heading and navigational speed

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Embodiment Construction

[0062] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0063] This application discloses a path planning method for intelligent ship collision avoidance based on heading and speed, the flow chart of which is as follows figure 1 As shown, the method includes the following steps:

[0064] Step 1: Divide the geographic coordinates of the current navigation sea area into a grid network according to the preset grid resolution, such as figure 2 As shown, the geographic coordinates are converted into a dimensionless matrix through the following operations, and the grid network index is obtained as:

[0065]

[0066] Among them, (i, j) represents the grid network index, the symbol int represents rounding, (x, y) is the geographic coordinates of the navigation sea area, the unit is meter (m), w is the grid resolution (ie grid width), The unit is meter (m), and min means to take the minimum value fr...

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Abstract

The invention discloses an intelligent ship collision avoidance path planning method based on heading and navigational speed, and relates to the field of intelligent ships, and the method comprises the steps: carrying out the grid network division of the geographic coordinates of a current navigation sea area according to a preset grid resolution, and obtaining a grid network index; carrying out numerical abstraction on geographic information in the grid network according to the navigation chart information; acquiring a course angle and a navigation speed of the intelligent ship at the currentmoment; acquiring information of obstacles around the ship and marking the information on the grid network; judging grids capable of sailing at the next moment within the grid range around the intelligent ship, and carrying out numerical abstraction; obtaining grids with values of 0 in all grid networks, and storing the grids in matrix elements; solving the shortest connection path between matrixelements by applying a global path planning method; and performing conversion between indexes and coordinates to obtain a navigable collision avoidance path of the intelligent ship. The method is used for solving the path planning problem of the underactuated intelligent ship, improving the ship control safety and reducing the occurrence of ship collision accidents.

Description

technical field [0001] The invention relates to the field of intelligent ships, in particular to a collision avoidance path planning method for intelligent ships based on heading and navigation speed. Background technique [0002] With the development of artificial intelligence technology and modern communication technology, the intelligence of ships has become the general trend of global shipping. At present, most mainstream ships are under-actuated configurations, that is, only equipped with stern propellers and rudders to provide sailing power and control torque, and cannot achieve 360° steering movement in situ, which is lacking in control flexibility. In view of the above reasons, the underactuated characteristics of the ship should be considered in the path planning process of the smart ship, so as to avoid large turning or unnecessary reversing maneuvers in the tracking path of the smart ship. [0003] Traditional ships can only rely on obstacle avoidance equipment t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0206
Inventor 张隆辉刘正锋魏纳新匡晓峰刘长德
Owner CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
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