Researchon Intelligent Anti-collision Of USV

Currently,as the situation between the countries of the world is becoming more and more serious,many countries shift the military focus to the sea.And with the development of unmanned technology,people start to pay the attention to the USV.Intelligent collision avoidance method is an important manifestation of the intelligent unmanned surface of the water,at present,the research on this aspect is not mature enough.This paper makes in-depth detailed study about the intelligent collision avoidance of USV,intelligent collision avoidance is divided into static collision avoidance and dynamic collision avoidance.For static intelligent collision avoidance,this paper divides it into local collision avoidance and global collision avoidance.This paper introduces the background of this topic,research status and development trend at first.Then,the intelligent collision avoidance technology of USV is analyzed.Including static obstacle collision avoidance method research and dynamic obstacle collision avoidance method research.After that,the collision avoidance process and collision avoidance mechanism of USV are introduced in detail,and instructing three kinds of meeting situation of USV.In addition,the motion parameters of the unmanned surface craft and the calculation method of the collision risk are analyzed.And the calculation of collision risk is carried out from time and space.In this paper,When studying the static unmanned collision avoidance problem,it is from the local intelligent collision avoidance and global intelligent collision avoidance.The path planning of the surface unmanned boat was carried out by using genetic algorithm,Dijkstra algorithm and gravitation search algorithm.And the design of intelligent ant colony avoidance method for USV based on improved ant colony algorithm is emphatically designed.The method is based on ant colony algorithm,by increasing the steering angle weight of this innovative parameter.The selection probability on the optimal path of ants is changed,so that the final path is optimized and the path length and iteration number are optimized.Finally,the simulation results show that the improved ant colony algorithm has a good effect on path planning and fitness value change.In this paper,when studying the dynamic surface collision avoidance problem,firstly,the maneuvering model of USV and the three kinds of meetings of maritime rules are considered.Based on maneuvering motion model,the intelligent collision avoidance method of USV is designed.The collision avoidance model is used to change the course and speed of unmanned surface,thus successfully completing the surface of the unmanned dynamic obstacles to intelligent collision avoidance.Finally,simulation experiments show that the method can efficiently and safely realize intelligent collision avoidance of dynamic obstacle,and provides powerful support and solid backing for many tasks of USV.