Research On Cooperative Path Planning Method Of USV Cluster System

Unmanned Surface Vehicle(Unmanned Surface Vehicle,USV for short)is an important surface robot,which has broad application prospects in both military and civilian fields.In recent years,more and more scholars have paid attention to and participated in the research of USV.However,the autonomy of USV needs to be improved,especially in the complex map environment,the coordination problem of cluster system global path planning has not been properly resolved.This thesis takes the USV cluster system as the research object,and studies the USV global path planning under the influence of ocean currents.The specific research work is as follows:(1)Aiming at the problem that a single USV global path planning under the influence of ocean currents cannot satisfy multiple planning goals at the same time,a USV global multiobjective path planning algorithm under ocean current environments is proposed.First,build a rasterized environment based on electronic charts,and increase ocean currents in it.Analyze the USV global path planning problem.Since the USV will be affected by external factors such as ocean currents when navigating in the ocean,the impact of ocean currents is included in the consideration of multi-target trajectory planning in a way that compensates for the USV speed and direction.The USV multi-objective optimization function and constraint conditions in the ocean current environment are based on the traditional genetic algorithm,and the Pareto frontier solution is obtained by the non-dominated sorting method as the optimal path.Later,a comparative experiment was designed and different ocean currents were set in the map.The results showed that there are conflicts between multiple targets of the path in the scene with ocean currents,and the speed of the ocean current affects the path planning results;add ocean currents to the map The performance of the multi-objective algorithm proposed in this thesis is verified.Experiments show that the path planned by this algorithm under the influence of ocean currents has very good performance in multiple target dimensions.(2)Aiming at the problem that the global path planning of the USV cluster system is likely to cause conflicts between paths,a collaborative path planning algorithm using conflict handling is proposed.First,the path coordination problem in the system is divided into time coordination and space coordination.Time coordination is solved by adding corresponding constraints,and spatial coordination needs to deal with path conflicts.Subsequently,the path conflict problem was analyzed,the conflict location method was designed,the priority was set according to the characteristics of the USV itself,the path constraint was added according to the conflict situation,and the path re-planning was designed,and the strategy for the phased processing of the path was added to the algorithm.Subsequently,a conflict resolution experiment was designed.The conflict resolution was eliminated through conflict resolution and the newly generated path was safe and non-collision.The USV cluster system path planning experiment was designed to transform the chart.The results are shown in this article under different chart environments.The proposed collaborative path planning algorithm can plan a safe path without crossover,which is synergistic.Through the above research,the algorithm designed in this thesis can plan multiple paths for the USV cluster that meet different goals at the same time,and meet the synergy,and ensure the safety of the navigation path of the USV cluster system.