A kind of unmanned boat barrier-avoiding method based on laser radarTechnical field
The present invention relates to unmanned boat avoidance technical field, specially a kind of unmanned boat barrier-avoiding method based on laser radar.
Background technique
Unmanned surface vehicle is a kind of unattended surface ship, be it is a kind of with autonomous or remote control mode in surface navigationMiniature self-service drives ship, can be carried to after reservation place by large ship and discharge execution task, can also autonomous navigation to coastal waters meshMark is mainly used for executing task that is dangerous and being unsuitable for the execution of someone's ship, once it is equipped with advanced control system, sensor systemAfter system, communication system and weapon system, a variety of wars and non-war operations task can be executed.
Unmanned boat needs to carry out avoidance processing to some barriers of the water surface, avoids nobody during the water surface travelsColliding between ship and barrier causes unmanned boat to damage, traditional avoidance mode when in use, although realizing to obstacleThe evacuation of object, but the course line of unmanned boat is also caused greatly to increase, the efficiency of unmanned boat operation is reduced, so, people are anxiousThe novel unmanned boat barrier-avoiding method based on laser radar of one kind is needed to solve the above problems.
Summary of the invention
The present invention provides a kind of unmanned boat barrier-avoiding method based on laser radar, can effectively solve in above-mentioned background techniqueThe traditional avoidance mode proposed when in use, although realizing the evacuation to barrier, also leads to the course line of unmanned boatThe problem of greatly increasing, reducing the efficiency of unmanned boat operation.
To achieve the above object, the invention provides the following technical scheme: a kind of unmanned boat avoidance side based on laser radarMethod includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the pathFull avoiding barrier.
According to the above technical scheme, in the step S1, ambient enviroment barrier point cloud data acquired in laser radarFor Dθ, Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloudThe cluster of data uses nearest neighbor classifier method, and nearest neighbor classifier method is returned using first point as the starting point of object edgeEnter in the first kind, it is primary since second point to be compared with previous point, if the spacing of two points is less than threshold value, the twoPoint belongs in same class, and otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, with suchIt pushes away, determines cluster condition, calculation method in nearest neighbor classifier method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in the step S2, determine that unmanned boat currently navigates by the cluster data of laser radarTo direction, whether there are obstacles, can start the safety angle for calculating avoiding barrier when an obstacle is detected, pass throughCluster result in step S1 calculates clear area Sn, considers unmanned boat local width w, therefore it is small to filter out from Sn widthSafety region Qm is obtained in the element of w, the edge in each safety region indicates Q with anglem=(αm,βm), it examines at this timeConsider unmanned boat local width, offset is increased to the edge in safety regionWherein l is sideAlong distance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in the step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
At this point, setting the navigation strategy of unmanned boat according to these three amounts；
State 1:Unmanned boat is controlled at this time to target courseNavigation；
State 2:Control unmanned boat is navigated by water along current course angle ψ at this time；
State 3:It is chosen in Ang at this timeIt navigates for the course angle of unmanned boatRow.
According to the above technical scheme, in the step S4, resulting safety path will be calculated and be transferred to unmanned boat controlComponent processed, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, to boatBarrier on line is evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat withUnmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategyEffect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat itBetween realize wireless communication.
Beneficial effects of the present invention: the present invention is scientific and reasonable, safe and convenient to use, by gathering to laser radar dataClass processing enormously simplifies unmanned boat ambient enviroment barrier point cloud data amount, while being added to safety partially for safety angleShifting amount provides safe distance for unmanned boat, guarantee hull can safety, by unmanned boat current course angle, unmanned boatTarget course and unmanned boat currently can three amounts of safety course angle divided, to ensure that unmanned boat reachableTo can be with avoiding obstacles, so that unmanned boat under the premise of avoiding obstacles, selects as short as possible in the case where target pointCourse line reach target point, effectively improve unmanned boat execute task efficiency, improve the utilization rate of resource.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the inventionIt applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is step flow diagram of the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described hereinApply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1: as shown in Figure 1, the present invention provides a kind of technical solution, a kind of unmanned boat avoidance based on laser radarMethod includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the pathFull avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud dataCluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edgePrimary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong toIn same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recentlyCluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radarTo whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through stepCluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from SnElement obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this timeUnmanned boat local width increases offset to the edge in safety regionWherein l is edgeDistance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
WhenUnmanned boat is controlled at this time to target courseNavigation.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unitPart, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course lineBarrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat withUnmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategyEffect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat itBetween realize wireless communication.
Embodiment 2: as shown in Figure 1, a kind of unmanned boat barrier-avoiding method based on laser radar, includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the pathFull avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud dataCluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edgePrimary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong toIn same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recentlyCluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radarTo whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through stepCluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from SnElement obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this timeUnmanned boat local width increases offset to the edge in safety regionWherein l is edgeDistance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
Whenψ ∈ Ang controls unmanned boat at this time and navigates by water along current course angle ψ.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unitPart, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course lineBarrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat withUnmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategyEffect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat itBetween realize wireless communication.
Embodiment 3: as shown in Figure 1, a kind of unmanned boat barrier-avoiding method based on laser radar, includes the following steps:
S1, unmanned boat ambient enviroment barrier point cloud data is acquired using laser radar, and carries out clustering processing；
S2, above-mentioned acquired cluster result is calculated, obtain unmanned boat can safety regional scope boundary；
It is S3, current by safety angle set Ang, unmanned boat target course and unmanned boat acquired in step S2Course angle calculates the course heading of unmanned boat subsequent time；
S4, it resulting safety path will be calculated is transferred to unmanned boat control unit, pacify unmanned boat according to the pathFull avoiding barrier.
According to the above technical scheme, in step S1, ambient enviroment barrier point cloud data acquired in laser radar is Dθ,Dθ={ Lθ| θ ∈ [0,360) }, wherein LθIndicate on the angular direction θ between barrier at a distance from, laser radar point cloud dataCluster uses nearest neighbor classifier method, and nearest neighbor classifier method is included into first using first point as the starting point of object edgePrimary since second point to be compared with previous point in class, if the spacing of two points is less than threshold value, the two points belong toIn same class, otherwise this point is not belonging to such, creates class at this time and the point is included into newly-built class, and so on, recentlyCluster condition, calculation method are determined in adjacent clustering method using the method for dynamic threshold are as follows:
Wherein thr represents threshold value；
A is proportionality coefficient；
Δ θ represents the differential seat angle between adjacent two data.
According to the above technical scheme, in step S2, the current course side of unmanned boat is determined by the cluster data of laser radarTo whether there are obstacles, the safety angle for calculating avoiding barrier can be started when an obstacle is detected, pass through stepCluster result in S1 calculates clear area Sn, considers unmanned boat local width w, therefore filters out width less than w from SnElement obtain safety region Qm, the edge in each safety region indicates Q with anglem=(αm,βm), consider at this timeUnmanned boat local width increases offset to the edge in safety regionWherein l is edgeDistance；
At this time just obtain can safety angle set be Ang={ (αm+Δk,βm-Δk)|(αm,βm)∈Qm}。
According to the above technical scheme, in step S3, the course line parameter of unmanned boat includes three at this time；
(1) the course angle ψ of current unmanned boat；
(2) current unmanned boat target course
(3) the safety angle set Ang of current unmanned boat；
WhenIt is chosen in Ang at this timeIt is navigated by water for the course angle of unmanned boat.
According to the above technical scheme, in step S4, resulting safety path will be calculated and be transferred to unmanned boat control unitPart, so that unmanned boat is according to the resulting course of calculatingCourse angle ψ and safety angle set Ang are navigated by water, on course lineBarrier evaded.
According to the above technical scheme, unmanned boat, which is internally integrated, is equipped with control module, realize the intelligent barrier avoiding of unmanned boat withUnmanned to participate in downward driving, the communication inside unmanned boat between each module is wire communication, is lost in intelligence system failure, control strategyEffect or internal system be under remote control mode and are controlled using remote control unmanned boat, remote control and unmanned boat itBetween realize wireless communication.
Based on above-mentioned, the present invention has the advantages that the present invention is scientific and reasonable, it is safe and convenient to use, by laser radarData carry out clustering processing, enormously simplify unmanned boat ambient enviroment barrier point cloud data amount, while adding for safety angleAdded safe deflection amount, provided safe distance for unmanned boat, guarantee hull can safety, by the current course of unmanned boatAngle, unmanned boat target course and unmanned boat currently can three amounts of safety course angle divided, to ensure that nothingPeople's ship can be with avoiding obstacles, so that unmanned boat under the premise of avoiding obstacles, selects in the case where can reach target pointIt selects course line as short as possible and reaches target point, effectively improve the efficiency that unmanned boat executes task, improve the utilization of resourceRate.
Finally, it should be noted that being not intended to restrict the invention the foregoing is merely preferred embodiment of the invention, to the greatest extentPresent invention has been described in detail with reference to the aforementioned embodiments for pipe, for those skilled in the art, still can be withIt modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is allWithin the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the inventionWithin the scope of shield.