Unmanned Vehicle Path Planning Based On Electronic Chart

In recent years,with the continuous exploration of marine resources and the continuous complexity of the international situation,countries around the world have constantly turned their national defense and diplomatic priorities to the oceans,the exploration and exploitation of marine resources have become the focus of attention of various countries.As a result,unmanned boats have received unprecedented attention.Designing a reasonable path,real-time obstacle avoidance,and dealing with critical conditions for unmanned boats on the water surface have become the focus of research.In this thesis,the problem of unmanned boat path planning was studied in depth,the method of combining global path planning and local path planning in unknown environment had been designed.Firstly,this thesis introduced the research status and development trend of unmanned boats at home and abroad.Then it summarized the unmanned boat path planning methods,including environmental modeling and path search.Finally,it carried out path planning for unmanned boats.In this thesis,the global route was used to plan the offline path for the unmanned boat on the known electronic chart.Firstly,the environment was modeled,and the 2D environment model was represented by the grid model.Then the optimal path was searched in the grid model,and smoothing the searched path.Finally,displaying and verifying the planned path in the S-57 format chart software,thereby obtaining the offline path required for the unmanned boat local planning.The organic unity of path planning accuracy and path search efficiency was realized,which solved the problem of unmanned boat global path planning.Taking the off-line path obtained through global planning as the established route of unmanned boats,unmanned boats carry out local planning.In order to solve the problem of local path planning,this paper designed a method of path planning based on fuzzy obstacle avoidance.According to the fuzzy rules in the fuzzy control,the unknown obstacles encountered in the route were circumvented.And they can continue to sail to the established target point after avoiding the obstacles.Finally,the simulation results showed that this method can efficiently and safely avoid the obstacles and provide a solid foundation for unmanned boats to complete various tasks at sea.