Research On Dynamic Collision Avoidance Method And Virtual Visual Simulation Of Unmanned Surface Vehicle

With the rapid development of unmanned intelligence technology,as a new type of marine equipment,Unmanned Surface Vehicle(USV)has attracted much attention in recent years,by carrying various kinds of sensing equipment,USV can independently perform military or civil tasks such as coastal cruise,anti-submarine warfare,ocean exploration,etc.The autonomous dynamic collision avoidance capability of USV is the basis of its autonomous navigation and the premise of safe navigation in the complex and changeable marine environment,this paper mainly studies the local static path planning and dynamic obstacle collision avoidance of USV,designs and builds the collision avoidance virtual visual simulation platform of USV.Firstly,a local static path planning method based on the improved cuckoo search algorithm is designed.Aiming at the shortcomings of the cuckoo search algorithm with low convergence accuracy and easy to fall into the local optimum,the algorithm is improved by adjusting the flight step size adaptively and introducing mutation and crossover strategies.The local navigation environment is modeled and the objective function is designed according to the navigation characteristics of USV,finally,the navigation path is searched by the improved cuckoo algorithm,and the effectiveness of the path planning algorithm is proved by the simulation experiment.Secondly,the real-time collision avoidance algorithm of USV is designed for collision avoidance of dynamic obstacles.A motion collision avoidance model is established based on the principle of velocity obstacle,the collision avoidance mode is analyzed and the fitness function is determined,at the same time,the meeting situation is divided based on the COLREGS,and the optimal collision avoidance strategy is obtained by using the improved cuckoo algorithm after the collision avoidance rules are incorporated.The collision avoidance algorithm is simulated and analyzed by considering the non-cooperative and cooperative obstacles,and it is proved that the collision avoidance algorithm can avoid dynamic obstacles safely and quickly in all kinds of meeting situations.Finally,USV collision avoidance virtual visual simulation platform is designed and established by using virtual simulation technology based on Unity3d development engine.The "LanXin" USV is used as the simulation object to make the USV 3d model,the ship model library,land model and ocean scene are created,meanwhile the UI interaction module is built to realize the multi-perspective observation of simulation demonstration,and the motion information of USV is displayed in real time.By writing scripts to control the virtual scene,and the designed dynamic collision avoidance algorithm is connected in the simulation platform,the three-dimensional simulation demonstration and verification of USV collision avoidance control method is realized,which can reproduce the USV motion scene well.