Title:
UNMANNED BOAT PATH PLANNING METHOD, APPARATUS AND DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/082710
Kind Code:
A1
Abstract:
An unmanned boat path planning method, apparatus and device, and a storage medium. When an unmanned boat executes a task on a river surface, the unmanned boat may collide with a drifting obstacle and a static solid obstacle, which threatens the unmanned boat to a great extent. In order to enable the unmanned boat to safely avoid obstacles on the river surface and safely reach a target, a relative speed artificial potential field method is introduced, so as to prevent collision with dynamic and static obstacles; moreover, a new gravitational function is introduced and an escape force is added, so as to help the unmanned boat in solving the problem of not being able to reach the target and being stuck in a local extremum on the river surface. A global optimal path is planned in combination with a regressive search algorithm, so that the distance of a planned path from the position of the unmanned boat to a target position is greatly shortened, and the task execution efficiency of the unmanned boat is improved.
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Inventors:
ZHAI YIKUI (CN)
ZHANG JUNLIANG (CN)
HUANG HAOWEN (CN)
YU CUILIN (CN)
CHEN JIACONG (CN)
KE QIRUI (CN)
LIANG YANYANG (CN)
WANG HONGMIN (CN)
ZHANG JUNLIANG (CN)
HUANG HAOWEN (CN)
YU CUILIN (CN)
CHEN JIACONG (CN)
KE QIRUI (CN)
LIANG YANYANG (CN)
WANG HONGMIN (CN)
Application Number:
PCT/CN2020/112535
Publication Date:
May 06, 2021
Filing Date:
August 31, 2020
Export Citation:
Assignee:
UNIV WUYI (CN)
International Classes:
G05D1/02
Foreign References:
| CN110850873A | 2020-02-28 | |||
| CN108469828A | 2018-08-31 | |||
| CN108981716A | 2018-12-11 | |||
| CN104155998A | 2014-11-19 | |||
| CN109725331A | 2019-05-07 | |||
| US20180004207A1 | 2018-01-04 |
Other References:
ZHU DAQI: "Theory and Technology of Underwater Search and Rescue for Unmanned Submersibles", 31 May 2016, NATIONAL DEFENSE INDUSTRY PRESS, CN, ISBN: 978-7-118-10772-2, article ZHU DAQI: "Theory and Technology of Underwater Search and Rescue for Unmanned Submersibles", pages: 44 - 49, XP009527759
Attorney, Agent or Firm:
JIAQUAN IP LAW (CN)
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