Research On Collision Avoidance Planning Method For Small USV Under High Speed Motion

As a small maritime vehicle that can move at high speed,the anti-collision planning of unmanned surface vehicle(USV)is not only an important symbol of intelligent USV,but also the core technology of autonomous navigation of USV.Therefore,the important premise for the successful completion of the mission of USV is that it can avoid collision independently.In the process of autonomous collision avoidance,USV needs to timely formulate navigation response plans based on the complex and changeable real-time Marine environment.At the same time,the collision avoidance decision-making of USV should follow "COLREGS" and considers both USV their exercise capacity and operation mode.So in the unknown static environment and dynamic environment,in this paper,the small USV high-speed movement under the condition of collision avoidance planning method research has the following four aspects:First,by analyzing the contrast small USV development situation at home and abroad as well as collision avoidance method research status at home and abroad,based on navigation radar,photoelectric sensor and AIS system,this paper has established USV comprehensive environmental awareness situation and USV integrated sensor model(navigation radar and photoelectric sensor).And combining with practical environmental conditions,practical task considerations and the USV own movement ability,this paper also has inductived USV collision avoidance planning constraints.Secondly,based on the theoretical basis of the decision of USV collision avoidance(the process of USV collision avoidance planning,USV safe encounters distance and the division of the situation to be encountered by USV),the model of USV collision avoidance planning and the model of collision risk have been established and verified by calculation of examples.Thirdly,for the static high speed movement of the small USV in unknown environment,in order to improve the real-time USV online planning,window rolling optimization method has been combined with improved ant colony optimization algorithm.Considering the environmental characteristics of USV homework at the same time,to facilitate improved ant colony optimization algorithm to search the optimal path,a viewable method has been proposed to construct local environment model.The convergence,real time and stability of the local static collision avoidance method of USV have been verified by experimental simulation.Finally,for the movement of high speed in the dynamic environment of small USV,respectively from COLREGS and safety point of view,this paper has put forward reverse eccentricity and safe circular expansion.The dynamic collision avoidance method of USV based on motion velocity model and improved ant colony optimization algorithm has been designed.It is verified that the dynamic collision avoidance method of USV is feasible and effective by experimental simulation.