Auto-berthing Method Of Unmanned Surface Vehicle In Dynamic Crowed Environment

Since the 21st century,mankind has continuously strengthened its exploration of marine resources.Countries around the world have begun to pay more and more attention to their own territories.China has millions of square kilometers of marine territory,and the ocean contains abundant resources.Considered with today’s global resource constraints,the development and utilization of abundant resources in the ocean is an inevitable trend of development.This paper is aimed at the marine intelligent unmanned surface vehicle(USV)technology field.In view of the increasing demand for complex and diverse ocean research and applications,proposes an USV independent planning method that considers the USV’s own energy consumption to be the lowest,and can carry out autonomous obstacle avoidance in complex traffic environment and autonomous berthing.The method can effectively improve the endurance of the USV in the ocean,and at the same time ensure the autonomy and safety of the USV in complex environment.The research content of this paper is as follows:Focusing on the USV global path planning problem,according to the USV energy consumption model and the basic principle of A*algorithm,an energy optimal function considering the influence of current is designed to form the energy-saving A*and Simple A global path planning algorithms.Finally,a simulation and comparison experiment of the proposed energy-saving planning algorithm are carried out.The effectiveness of the proposed algorithm is proved by the simulation between the proposed and the classical A*algorithm in different sea conditions.Aiming at the problem of self-collision avoidance of small USV in dynamic crowded environment,based on the classical velocity obstacle(VO)method,the low-speed motion characteristics of small USV in dynamic crowded environment are considered,combined with the elliptical VO theory and COLREGs rules,designing an independent collision avoidance decision algorithm for small USV in this kind of environment.The collision avoidance performance of the algorithm is verified by comparison with the classical VO algorithm.An UWB indoor positioning speed and direction measurenent system was designed by UWB indoor positioning device.The USV autonomous collision avoidance test was carried out in indoor pool by using this system and millimeter wave radar.While verifying the detection accuracy of the system,some performance verification of the proposed USV autonomous collision avoidance algorithm was carried out.Aiming at the problem of independent berthing planning for small USV,an independent berthing planning algorithm based on multi-level guidance is designed.The feasibility of the berthing planning algorithm is verified by simulation test.On this basis,a quadratic optimization of it is proposed to further improve the safety and robustness of the small USV autonomous berthing planning algorithm based on multi-level guidance.