Research On Real-time Collision Avoidance Methods For Unmanned Vessels Under Rulebased Constraints

With the vigorous development of UAV technology,UAV has lagged behind due to various complex factors,but it can be predicted that UAV will occupy an important position in the future navigation field.It is of great significance to improve the collision avoidance behavior of unmanned vessels at sea.At the same time,collision avoidance of unmanned vessels not only needs to complete the task of collision avoidance,but also should be completed within the scope of human navigation rules.For the embedding problem of human navigation rules,based on the existing empirical rules and machine language logic,this paper proposes a framework of general rules,which condenses human navigation rules into program language and embeds them into the collision avoidance algorithm of unmanned ships.For the intelligent collision avoidance algorithm of unmanned ship,this paper designs and implements a specific collision avoidance algorithm under rule constraints based on the improved artificial potential field method.The virtual potential field function of the common artificial potential field method is quadratic function,which varies rapidly with distance,and the potential field can not be dynamically adjusted.It is easy to fall into local minimum and the target point is not reachable.In this paper,the exponential function is used as the potential field function,and the parameter variables related to the distance between the target points are added.The simulation results show that the improved potential field can solve the problems of local minimum and unreachable target points.Aiming at the path planning and collision avoidance requirements of unmanned vessels,this paper reinterprets the empirical moving rules by using the framework rules.Combining with the improved artificial potential field method,the regular constraints are integrated into the quantitative collision avoidance decision-making,which has good operability and real-time performance.The scheme can realize the real-time collision avoidance of unmanned vessels under the rule constraints,and can also be extended to other intelligent unmanned mobile systems.