摘要
This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model is deduced to predict its motion state. After optimizing in long time domain, obstacles' information can be obtained which close the actual motion state. Thirdly, two factors, distance between USV and target point and estimated collision time, are added to improve traditional artificial potential field. The improved artificial potential field can solve problems that USV cannot find path near obstacles and arrive the target point because of entering the local minimums point. Finally, this research is proved by simulation experiments to improve the level of intelligent and safety, and reduce the personnel expenses effectively.
This paper focuses on solving the Unmanned Surface Vehicle autonomous dynamic collision avoidance problem. Firstly, a kinematic and dynamics model of three degree of freedom for USV is established, researches USV's treat method about the data of obstacles, and structures whole environment information to make USV avoid obstacles. Secondly, according to obstacles' position data, Elman predictive model is deduced to predict its motion state. After optimizing in long time domain, obstacles' information can be obtained which close the actual motion state. Thirdly, two factors, distance between USV and target point and estimated collision time, are added to improve traditional artificial potential field. The improved artificial potential field can solve problems that USV cannot find path near obstacles and arrive the target point because of entering the local minimums point. Finally, this research is proved by simulation experiments to improve the level of intelligent and safety, and reduce the personnel expenses effectively.
引文
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