Autonomous Collision Avoidance Method Of Unmanned Vessel Based On Path Speed Decoupling Planning

In recent years,with the continuous development of artificial intelligence technology,the human demand for ship performance is increasing,many scholars have turned their perspective to "artificial intelligence ship".Autonomous collision avoidance technology,as an important embodiment of the intelligent level of unmanned ships,has become the focus and difficulty of experts and scholars.In this regard,this paper focuses on the behavior decision-making of unmanned ships.In the process of autonomous collision avoidance,in order to avoid the complexity of the coupling method of ship motion path and speed,and to ensure the real-time decision-making,the collision avoidance problem is divided into path planning and speed planning.Based on this,this paper proposes a collision avoidance model of unmanned vessel based on path speed decoupling planning.The main research contents of this paper are as follows:1.A ship route planning model based on B-spline curve is proposed.Firstly,the hyperplane separation method is used to separate the ship from the obstacles,and the ship kinematics model is introduced.Based on the B-spline parametric ship kinematics model and hyperplane,the shortest total sailing time is set as the objective function,and the safe collision avoidance distance of the ship is limited as the constraint condition to achieve the safety obstacle avoidance of the ship.2.A ship speed planning model based on B-spline curve is proposed.Firstly,the ship displacement is decomposed in the transverse direction and longitudinal direction of the ship,then the collision area of the ship is regarded as an obstacle with the start displacement and the end displacement as the constraint conditions,and the distribution curve of the ship transverse displacement and longitudinal displacement is re planned,finally the planning of the speed is transformed into the planning of the path.3.Based on the optimal control solution method,the proposed path planning model and speed planning model are solved,and the ship aided decision demonstration system is designed and implemented in the process of model development,and the proposed path planning model and speed planning model are simulated and verified.The system consists of three parts:the demonstration software of collision avoidance aided decision based on MFC electronic chart The dynamic environment of single ship and multi ship encounter is simulated respectively.The results show that the decoupling based on path speed is proposed in this paper The planned autonomous collision avoidance model can effectively plan the collision avoidance path and speed.of the ship,ensure the safety of the ship and meet the real-time requirements of the decision-making.Through the decomposition of the speed in the horizontal and vertical aspects,the ship can recover to the original route after making the collision avoidance decision.