CN112985406A - Ship obstacle avoidance path planning method and device and storage medium - Google Patents
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Abstract
The invention discloses a method, a device and a storage medium for planning a ship obstacle avoidance path, which relate to the field of path planning and comprise the following steps: obtaining obstacle size information; determining a first grid according to the obstacle size information; acquiring a time interval; updating motion information according to the time interval, wherein the motion information comprises ship motion information; dividing the first grid into a plurality of second grids according to the motion information; and planning an obstacle avoidance path in the first grid according to the division of the second grid, so that the actual motion characteristics of the ship can be considered to effectively avoid obstacles, and the running safety of the ship is improved.
Description
Technical Field
The invention relates to the field of path planning, in particular to a method and a device for planning an obstacle avoidance path of a ship and a storage medium.
Background
With the rapid development of computer network technology, automation technology, artificial intelligence technology and the like, the relevant research of unmanned ships also steps into a new stage, one of the very important aspects in the research of the relevant technologies of unmanned ships is the problem of path planning, and through the continuous deep research of the path planning, the unmanned ships can find an optimal path between a starting point and a target point, complete the work of autonomous navigation, offshore exploration and the like, and make better contribution to the progress of human society and the development of scientific technology.
In the related art, in a rapid search algorithm based on global path planning, although an optimal path can be planned to avoid an obstacle to reach a target point, in the navigation process of a ship according to the planned path, the ship cannot completely travel according to the planned path due to the motion characteristics of the ship and the instability of motion influenced by external interference, so that the risk of colliding with the obstacle is caused.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present invention provides a method, an apparatus, and a storage medium for planning a path for avoiding obstacles, which can effectively avoid obstacles, and increase the reliability of path planning and the safety of ship driving.
In a first aspect, an embodiment of the present invention provides a method for planning an obstacle avoidance path of a ship, including the following steps:
obtaining obstacle size information;
determining a first grid according to the obstacle size information;
acquiring a time interval;
updating motion information according to the time interval, wherein the motion information comprises ship motion information;
dividing the first grid into a plurality of second grids according to the motion information;
and planning an obstacle avoidance path in the first grid according to the division of the second grid.
In some embodiments, said determining a first grid from said obstacle size information comprises the steps of:
determining the radius of a circumscribed circle of the obstacle according to the obstacle size information;
acquiring a first turning radius of a ship;
determining a length of the first grid based on the first radius of gyration and the radius of the obstacle circumscribing circle.
In some embodiments, the motion information comprises a speed of motion and a second turning radius of the vessel, and the dividing the first grid into a plurality of second grids according to the motion information comprises:
determining a length of the second grid from the movement speed and the second radius of gyration and the time interval;
the first grid is divided into a plurality of second grids according to the lengths of the second grids.
In some embodiments, the movement speed comprises a ship movement speed and an obstacle movement speed, and the determining the length of the second grid from the movement speed and the second radius of gyration and the time interval comprises the steps of:
determining a movement speed according to the ship movement speed and the barrier movement speed;
determining a length of the second grid based on the speed of movement and the second radius of gyration and the time interval.
In some embodiments, before the step of obtaining the obstacle size information, the method for planning the obstacle avoidance path of the ship further includes the following steps:
acquiring a starting point coordinate, a target point coordinate and global static information;
and planning a global path according to the starting point coordinate, the target point coordinate and the global static information.
In some embodiments, after the step of planning a global path according to the start point coordinates, the target point coordinates and the global static information, the ship obstacle avoidance path planning method further includes the steps of:
and when an obstacle is detected to appear on the global path, executing the step of obtaining the size information of the obstacle to the step of planning an obstacle avoidance path in the first grid according to the division of the second grid.
In some embodiments, the planning of the obstacle avoidance path in the first grid according to the division of the second grid comprises:
acquiring ship position information and obstacle position information;
determining a starting point of the obstacle avoidance path in the first grid according to the ship position information and the obstacle position information;
and determining the end point of the obstacle avoidance path in the first grid according to the global path and the obstacle position information.
In some embodiments, the planning of the obstacle avoidance path in the first grid according to the division of the second grid comprises:
and planning an obstacle avoidance path in the first grid by adopting an A-x algorithm or a Dijstra algorithm according to the division of the second grid.
In a second aspect, an embodiment of the present invention further provides a device for planning an obstacle avoidance path of a ship, including:
the system comprises an information acquisition unit, a processing unit and a control unit, wherein the information acquisition unit is used for acquiring obstacle size information, time intervals and motion information, and the motion information comprises ship motion information;
the information processing unit is connected with the information acquisition unit, and is used for determining a first grid according to the obstacle size information, updating the motion information according to the time interval, dividing the first grid into a plurality of second grids according to the motion information, and planning an obstacle avoidance path in the first grid according to the division of the second grids.
In a third aspect, an embodiment of the present invention further provides a computer storage medium, where a program executable by a processor is stored, and when the program executable by the processor is executed by the processor, the method for planning an obstacle avoidance path of a ship is implemented as described in the embodiment of the first aspect.
The technical scheme of the invention at least has one of the following advantages or beneficial effects: when a ship encounters an obstacle, acquiring obstacle size information, planning a first grid according to the obstacle size information, then acquiring a time interval, updating motion information including ship motion information according to the time interval, dividing the first grid into a plurality of second grids according to the motion information, planning an obstacle avoidance path in the first grid according to division of the second grids, and updating division of the second grids by continuously updating the motion information, so that the obstacle avoidance path of the ship is continuously updated, the obstacle can be effectively avoided by considering actual motion characteristics of the ship, and the running safety of the ship is improved.
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Fig. 1 is a flowchart of a method for planning an obstacle avoidance path of a ship according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first grid plan provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a two-layer peripheral grid provided in accordance with an embodiment of the present invention.
Detailed Description
The embodiments described in the embodiments of the present application should not be construed as limiting the present application, and all other embodiments that can be obtained by a person skilled in the art without making any inventive step shall fall within the scope of protection of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
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 herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Before further detailed description of the embodiments of the present application, terms and expressions referred to in the embodiments of the present application will be described, and the terms and expressions referred to in the embodiments of the present application will be used for the following explanation.
The algorithm a (a-Star) is a direct search method which is most effective for solving the shortest path in the static road network, and is also an effective algorithm for solving a plurality of search problems. The closer the distance estimate is to the actual value in the algorithm, the faster the final search speed. The formula is expressed as: (n) g (n) + h (n), where f (n) is the cost estimate from the initial state to the target state via state n, g (n) is the actual cost from the initial state to state n in the state space, and h (n) is the estimated cost of the best path from state n to the target state.
Dijkstra's algorithm, was proposed by the netherlands computer scientist dikstra in 1959, and is therefore also called dikstra's algorithm. The method is a shortest path algorithm from one vertex to the rest of the vertices, and solves the shortest path problem in the weighted graph. The dijkstra algorithm is mainly characterized in that a greedy algorithm strategy is adopted from a starting point, and adjacent nodes of vertexes which are nearest to the starting point and have not been visited are traversed each time until the nodes are expanded to a terminal point.
The embodiment of the invention provides a method for planning an obstacle avoidance path of a ship, and referring to fig. 1, the method of the embodiment of the invention includes, but is not limited to, step S110, step S120, step S130 and step S140.
Step S110, obstacle size information is acquired.
And step S120, determining a first grid according to the obstacle size information.
Step S130, a time interval is acquired.
And step S140, updating motion information according to the time interval, wherein the motion information comprises ship motion information.
In step S150, the first grid is divided into a plurality of second grids according to the motion information.
And step S160, planning an obstacle avoidance path in the first grid according to the division of the second grid.
In some embodiments, the ship establishes a geodetic coordinate system according to map information such as an electronic chart and a satellite map, projects a GPS coordinate into the geodetic coordinate system by utilizing UTM projection, and then performs map reconstruction according to information related to maritime affairs in the electronic chart and the satellite map so as to construct a variable rasterized map in the map and provide corresponding map information for obstacle avoidance path planning. Both map construction and data processing calculations require more steps than constructing a map in a smaller grid, and thus may increaseWorkload and computational load of the computer. If the grid is constructed according to a larger grid, the safety and the feasibility cannot be guaranteed, so that the workload of a computer can be reduced and the navigation safety can be guaranteed by adopting a variable grid mode. Referring to fig. 2, after the full-area obstacle is subjected to image processing, an image of the obstacle is obtained, obstacle size information is obtained according to the image of the obstacle, the obstacle is a regular pentagonal object as shown in fig. 2, and the obstacle is rounded by an algorithm to obtain a circumscribed circle radius R of the obstacle. Considering the limit condition that the ship bypasses the obstacle, namely the front side of the ship meets the obstacle, the first turning radius r of the ship is obtained according to the dimension information of the ship, such as the length of the ship, the shape of the ship and other parameters1According to a first radius of gyration r1After the ship turns, the ship just completely avoids the obstacle by externally rounding the route. That is, when the heading of the ship is tangent to the circumcircle of the obstacle, or is tangent at a long distance, the ship can be considered to completely avoid the obstacle. For further ensuring the safety, a buffer space can be arranged in the middle, and a buffer distance R is arranged1And then, the distance L from the starting point of starting the rotation of the ship to the center of the outer contact circle of the obstacle is as follows:
because the rudder buffering distance at the rotation starting point can be set according to the practical coefficient k, the side length of the first grid division is as follows:
L2＝k*L1＝k*2L；
dividing the first grid into a plurality of second grids by using a global fast search algorithm, wherein the side length of each second grid is as follows:
L3＝k1*v*t/r2；
where v denotes the speed of movement, t denotes the set time interval, r2Denotes a second radius of gyration, k1Are coefficients.
It should be noted that the angle between the constructed map grids is a fixed angle, and in order to improve the feasibility of ship steering, n layers of peripheral grids can be constructed to steer the ship in consideration of the motion characteristics such as the steering capability of the ship. Referring to fig. 3, the first layer may provide 8 directions on the periphery, the second layer may provide 16 directions on the periphery, and the nth layer may provide 8 x n directions, wherein the spacing angle of each grid will be reduced to help the vessel to turn, and the number of peripheral grids to turn is determined according to the grid size and the motion characteristics of the vessel, and generally 1-3 layers are used.
The movement speed is determined by the movement speed of the ship and the movement speed of the obstacles, only stationary obstacles such as lighthouses, islands and the like can be generally obtained from the electronic chart, and when the obstacles are in a stationary state, the movement speed is zero, and in this case, the movement speed only considers the movement speed of the ship. And the navigation scene of the ship in the normal navigation process changes constantly, some unpredictable dynamic obstacles may be encountered, for example, information such as other ships, floating moving obstacles and the like cannot be embodied and acquired in the map, at this time, the ship can acquire the information of the dynamic obstacles including other ships through devices such as a marine radar, a laser radar, an Automatic Identification System (AIS) of the ship, a marine digital communication set (VHF), a camera, an external sensor and the like, and the information of the dynamic obstacles including other ships is embodied in the map after being processed by fusing coordinates of the information and size information of the obstacles. The movement speed of the obstacle needs to be considered in a movement state, and the movement speed is formed according to the movement speed of the ship and the movement speed of the obstacle, and specifically, the movement speed is solved by projecting the movement speed of the ship and the movement speed of the obstacle along an x axis and a y axis in a geodetic coordinate system:
vx＝vrx+VRx；
vy＝vry+VRy；
wherein v isrxRepresenting the speed of the vessel in the x-axis direction, vryShowing the speed of movement of the vessel in the direction of the y-axis, VRxRepresenting the speed of movement of the obstacle, V, in the direction of the x-axisRyRepresenting the speed of movement of the obstacle in the direction of the y-axis, vxRepresenting the speed of movement, v, in the direction of the x-axisyTo representThe moving speed is the moving speed in the y-axis direction. And calculating the relative movement speed of the ship movement speed and the barrier movement speed to regard the dynamic barrier as a static barrier, and determining a second grid so as to plan an obstacle avoidance path.
When a plurality of obstacles exist on the sea surface, the ship firstly ignores the distant obstacles, considers the obstacles closest to the ship, reasonably plans the first grid according to the size information of the obstacles, and after the ship enters the first grid region, a user continuously updates the motion information by setting a time interval as unit time to monitor the motion states of the ship and the obstacles on the sea surface, so that the division of the second grid is continuously corrected, and corrects the obstacle avoidance path according to the division of the second grid by adopting algorithms of A, Dijstra and the like, so that the ship can continuously correct the ship speed and rudder angle in the obstacle avoidance process, the ship's turning radius is also continuously changed according to the ship motion equation, and the ship's turning radius is adjusted to have good passing effect on the obstacles with different sizes. When the obstacles are too dense and the algorithm cannot obtain a proper route due to the motion characteristics of the ship, the obstacles in the dense area can be taken as a whole, and reasonable planning is performed by increasing the first grid division coefficient.
According to some embodiments of the present invention, the method for planning a ship obstacle avoidance path of the embodiments of the present invention further includes, but is not limited to, step S310, step S320, and step S330.
Step S310, acquiring the coordinates of the starting point, the coordinates of the target point and the global static information.
And step S320, planning a global path according to the starting point coordinates, the target point coordinates and the global static information.
And step S330, when the obstacle on the global path is detected, executing the step S110 to the step S160.
In some embodiments, before the ship is ready to sail, a global satellite positioning system such as a GPS, a beidou satellite and the like can be used for determining a starting point coordinate and a target point coordinate of the ship, then an electronic chart is used for obtaining hydrological information, the hydrological information is used as global static information, and then an algorithm such as an Astar algorithm, a Dijkdtra algorithm, an ant colony algorithm, a particle swarm algorithm and the like is used for planning a global path according to the starting point coordinate, the target point coordinate and the global static information. Furthermore, some dynamic information may be obtained according to the monitoring devices of the ship, for example, position information of other ships obtained by the automatic ship identification system, information of other obstacles obtained by the marine radar and the laser radar, picture information obtained by the camera, weather information obtained by the weather station, and the like, the information obtained by all the monitoring devices is summarized into dynamic information in the current state, the current dynamic information is fused with the static information, and the global path is optimized by combining the motion characteristics of the ship and the ship model. Then, the ship starts to sail according to the global path, in the sailing process, the monitoring device of the ship is used for monitoring the sea surface condition in real time, when the ship monitors that an obstacle exists in front of the global path of sailing, the size information of the obstacle in front is obtained, the obstacle area, namely the first grid length, is determined according to the size information of the obstacle, and meanwhile, the position information of the ship and the position information of the obstacle are determined by using the global positioning system. When the ship enters the first grid, the starting point of the obstacle avoidance path in the first grid is determined according to the ship position information and the obstacle position information, and the terminal point of the obstacle avoidance path in the first grid is determined according to the global path and the obstacle position information, so that the ship can return to the originally planned global path to continue sailing after avoiding the obstacle. And then dividing the second grid according to the ship motion information and the obstacle motion information to plan an obstacle avoidance path, and acquiring the ship motion information and the obstacle motion information at intervals in the ship obstacle avoidance process to continuously modify the obstacle avoidance path, so that the obstacle avoidance path can be continuously modified by combining the actual motion characteristics of the ship, and the safety in the navigation process is improved.
According to some specific embodiments of the invention, in the whole path planning process of the ship, a global path is planned according to the starting point coordinate, the target point coordinate, global static information and the like to avoid large obstacles such as reef, island and the like from reaching the end point, in the ship navigation process, the obstacle avoidance path is corrected by continuously acquiring motion information under the condition of encountering the obstacle, so that the obstacle is effectively bypassed, and the ship can return to the air route of the global path again without deviating from the destination after bypassing the obstacle.
The embodiment of the invention also provides a device for planning the obstacle avoidance path of the ship, which comprises an information acquisition unit and an information processing unit, wherein the information acquisition unit is connected with the information processing unit. An information acquisition unit for acquiring obstacle size information, time interval, and motion information. Specifically, the information acquisition unit comprises devices such as network communication equipment, a radar, a sensor, an upper computer interface and the like. The information processing unit is used for determining a first grid according to the size information of the obstacle, updating motion information according to the time interval, dividing the first grid into a plurality of second grids according to the motion information, and planning an obstacle avoidance path in the first grid according to the division of the second grids. The ship obstacle avoidance path planning device also comprises a control unit, wherein the control unit is connected with the information processing unit and is used for controlling the ship to sail according to the obstacle avoidance path planned by the information processing unit.
An embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for execution by one or more control processors, e.g., to perform the steps described in the above embodiments.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. A ship obstacle avoidance path planning method is characterized by comprising the following steps:
obtaining obstacle size information;
determining a first grid according to the obstacle size information;
acquiring a time interval;
updating motion information according to the time interval, wherein the motion information comprises ship motion information;
dividing the first grid into a plurality of second grids according to the motion information;
and planning an obstacle avoidance path in the first grid according to the division of the second grid.
2. The method for planning obstacle avoidance path of a ship according to claim 1, wherein the determining the first grid according to the obstacle size information comprises the following steps:
determining the radius of a circumscribed circle of the obstacle according to the obstacle size information;
acquiring a first turning radius of a ship;
determining a length of the first grid based on the first radius of gyration and the radius of the obstacle circumscribing circle.
3. The method for planning an obstacle avoidance path of a ship according to claim 1, wherein the motion information includes a motion speed and a second turning radius of the ship, and the dividing the first grid into a plurality of second grids according to the motion information includes:
determining a length of the second grid from the movement speed and the second radius of gyration and the time interval;
the first grid is divided into a plurality of second grids according to the lengths of the second grids.
4. The method for planning obstacle avoidance path of a ship according to claim 3, wherein the moving speed includes a ship moving speed and an obstacle moving speed, and the determining the length of the second grid according to the moving speed, the second turning radius and the time interval includes the following steps:
determining a movement speed according to the ship movement speed and the barrier movement speed;
determining a length of the second grid based on the speed of movement and the second radius of gyration and the time interval.
5. The method for planning a ship obstacle avoidance path according to claim 1, wherein before the step of obtaining the obstacle size information, the method for planning a ship obstacle avoidance path further comprises the steps of:
acquiring a starting point coordinate, a target point coordinate and global static information;
and planning a global path according to the starting point coordinate, the target point coordinate and the global static information.
6. The method for planning a ship obstacle-avoidance path according to claim 5, wherein after the step of planning a global path according to the start point coordinates, the target point coordinates and the global static information, the method for planning a ship obstacle-avoidance path further comprises the steps of:
and when an obstacle is detected to appear on the global path, executing the step of obtaining the size information of the obstacle to the step of planning an obstacle avoidance path in the first grid according to the division of the second grid.
7. The method for planning an obstacle avoidance path of a ship according to claim 6, wherein the planning of the obstacle avoidance path in the first grid according to the division of the second grid comprises the following steps:
acquiring ship position information and obstacle position information;
determining a starting point of the obstacle avoidance path in the first grid according to the ship position information and the obstacle position information;
and determining the end point of the obstacle avoidance path in the first grid according to the global path and the obstacle position information.
8. The method for planning an obstacle-avoiding path of a ship according to claim 1, wherein the planning of the obstacle-avoiding path in the first grid according to the division of the second grid comprises the following steps:
and planning an obstacle avoidance path in the first grid by adopting an A-x algorithm or a Dijstra algorithm according to the division of the second grid.
9. The utility model provides a boats and ships obstacle avoidance path planning device which characterized in that includes:
the system comprises an information acquisition unit, a processing unit and a control unit, wherein the information acquisition unit is used for acquiring obstacle size information, time intervals and motion information, and the motion information comprises ship motion information;
the information acquisition unit is connected with the information processing unit, and the information processing unit is used for determining a first grid according to the obstacle size information, updating the motion information according to the time interval, dividing the first grid into a plurality of second grids according to the motion information, and planning an obstacle avoidance path in the first grid according to the division of the second grids.
10. A computer storage medium in which a processor-executable program is stored, wherein the processor-executable program, when executed by the processor, is configured to implement the method for planning an obstacle avoidance path of a ship according to any one of claims 1 to 8.
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| CN115202370A (en) * | 2022-09-15 | 2022-10-18 | 泰山学院 | Navigation control method and system for unmanned ship and readable storage medium |
| CN116045982A (en) * | 2022-12-23 | 2023-05-02 | 中国船舶集团有限公司综合技术经济研究院 | Ship path planning method and device for emergency rescue |
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