Path planning method of unmanned water quality sampling ship with dynamic obstacle avoidance function

The invention relates to a path planning method of an unmanned water quality sampling ship with a dynamic obstacle avoidance function. The method comprises the following steps: S1, starting an unmanned ship and carrying out self-checking, starting various sensors required by receiving and navigation...

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Bibliographic Details
Main Authors ZHANG ZHEN, YANG RONGFENG, LI SUWEN, WU DEFENG
Format Patent
LanguageChinese
English
Published 24.12.2019
Subjects
CONTROLLING
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
REGULATING
SURVEYING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TESTING
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Summary:The invention relates to a path planning method of an unmanned water quality sampling ship with a dynamic obstacle avoidance function. The method comprises the following steps: S1, starting an unmanned ship and carrying out self-checking, starting various sensors required by receiving and navigation, acquiring real-time map data, picking basic important information of a map, and inputting the basic important information into an unmanned ship core processor for processing; S2, before path planning starting, inputting and recording water quality sampling point coordinates; S3, performing globalor local path planning on the navigation path of the unmanned ship by utilizing an artificial fish swarm algorithm; and S4, after planning and generation of a route by the unmanned ship core processor, controlling a ship body dynamic propulsion system to carry out navigation according to a predetermined route by referring to information of a navigation system and an electronic compass, returning to the S3 again under the
Bibliography:Application Number: CN201911043014