Research And Implementation Of Route Planning And Real-time Collision Avoidance Strategy Aerial Vehicle Based On Electronic Chart

As a kind of marine equipment,Unmanned Surface Vessel(USV)plays an important role in many fields,such as military and civil.At present,USV mainly undertakes many tasks,such as investigation and search,environmental monitoring,navigation and vigilance,which can effectively reduce the work burden of staff and ensure their work safety.As a key technology to promote the research of USV,electronic chart has been widely concerned and deeply studied.In this paper,the research and implementation of the path planning and real-time collision avoidance strategy of USV based on electronic chart is carried out.At present,the research is divided into three stages :1,the research S-57 electronic chart and the design and implementation of electronic chart analytical algorithm library in compliance with international standards;2,the study of path planning algorithm and real-time collision avoidance strategy;3,the design and implementation of an electronic chart analytical algorithm library and path planning algorithm based on the USV path planning software system.This paper has developed a platform tool for the research of USV,which has high academic and engineering application significance.The main work of this paper includes:(1)To study the relevant international standards S-57 electronic charts,to study the relevant contents of the theoretical data model and data structure of electronic charts in IHO S-57 standards;to study the relevant contents of the symbol library,representation library and corresponding tables of electronic charts in IHO S-52 standards;to study the ISO/IEC 8211 data encapsulation standards and data analysis methods.To determine the design goal,analysis mode,organization structure,module division and development mode of electronic chart analytical algorithm library.(2)To complete the design work of the electronic chart parsing library,the algorithm library is implemented by C++ language programming.The algorithm library reads and parses S-57 standard electronic chart file,according to the parsed data,obtains the QImage format electronic chart and returns the final result to the user.The algorithm library embodies the idea of object-oriented design,has good cohesion and independence,and has good cross-platform.The algorithm library has simple external interface functions,and by calling these interface functions,the algorithm library can be quickly applied to related research work.(3)Study the path planning algorithm,learn the basic principles of path planning algorithm,research methods and development trends,introducing the performance and application scenarios of the main path planning algorithms.This paper focuses on Theta-star algorithm and A-star algorithm,and studies the search principle,implementation method and programming implementation of the two algorithms.By comparing and analyzing the planning effect of the two algorithms,the Theta-star algorithm is finally determined as the path planning algorithm of this study.This paper probes into the local collision avoidance problem of USV,studies the collision avoidance rules of USV,the possible navigation danger,and the research method of autonomous collision avoidance.From the practical point of view,a real-time collision avoidance strategy combining sliding window principle and local path planning algorithm is proposed.(4)Based on the electronic chart analytic algorithm library and Thetar-star algorithm,a path planning software system for USV is designed.The software system is guided to meet the actual needs of USV projects,and aims to help operators achieve rapid path planning and mission planning for unmanned craft.This software takes the electronic chart as the map environment,the operator directly carries on the path planning and the task planning operation on the electronic chart,and realizes the track tracking to the unmanned craft.All the functions of the software were successfully realized and passed the performance test,which reached the initial design target and was applied in the unmanned craft project.In the process of using,the software can well meet the needs of path planning and task planning for unmanned craft.It has the advantages of simple interface,simple operation,complete function and stable operation,and fully meets the practical requirements.