一种基于改进果蝇优化和动态窗口法的无人艇分层避障方法

本发明涉及无人艇自主航行领域，特别指一种基于改进果蝇优化和动态窗口法的无人艇分层避障方法。本发明包括：步骤S1：建立基于电子海图的无人艇海上航行地理环境模型；步骤S2：采用改进的果蝇优化算法完成全局最优路径规划；步骤S3：建立动态障碍物的环境模型；步骤S4：采用改进的动态窗口法躲避移动障碍物船只。本发明提供了一种基于判断条件的动态与静态避障模式相切换的避障方法，可以在航行时有效的躲避障碍物，避免算法陷入局部最优解，采用模糊控制方法对最优轨迹的权重参数进行动态控制，提高了轨迹预测的精度和效率。 The invention relates to the field of autonomous na...

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Bibliographic Details
Format Patent
LanguageChinese
Published 02.08.2022
Subjects
CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:本发明涉及无人艇自主航行领域，特别指一种基于改进果蝇优化和动态窗口法的无人艇分层避障方法。本发明包括：步骤S1：建立基于电子海图的无人艇海上航行地理环境模型；步骤S2：采用改进的果蝇优化算法完成全局最优路径规划；步骤S3：建立动态障碍物的环境模型；步骤S4：采用改进的动态窗口法躲避移动障碍物船只。本发明提供了一种基于判断条件的动态与静态避障模式相切换的避障方法，可以在航行时有效的躲避障碍物，避免算法陷入局部最优解，采用模糊控制方法对最优轨迹的权重参数进行动态控制，提高了轨迹预测的精度和效率。 The invention relates to the field of autonomous navigation of unmanned ships, in particular to an unmanned ship layered obstacle avoidance method based on improved fruit fly optimization and a dynamic window method. The method comprises the following steps: S1, establishing an unmanned ship marine navigation geographical environment model based on an electronic chart; S2, completing global optimal path planning by adopting an improved fruit fly optimization algorithm; S3, establishing an environment model of the dynamic obstacle; and S4, using an improved dynamic window method to avoid the moving obstacle ship. According to the obstacle avoidance method for switching the dynamic obstacle avoidance mode and the static obstacle avoidance mode based on the judgment c
Bibliography:Application Number: CN202010396241